ConstantAccelerationTurnrateModel Class Reference

Motion model that predicts the pose of the robot given the velocities with a constant acceleration and turnrate model. More...

#include <constant_acceleration_turnrate_model.hpp>

Inheritance diagram for ConstantAccelerationTurnrateModel:

Collaboration diagram for ConstantAccelerationTurnrateModel:

Public Member Functions
Eigen::Vector3d	get_pose_difference (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t) override
	Gives the increments to the pose instead of the next pose.
Eigen::Matrix3d	get_jacobian_pose (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t) override
	Get the Jacobian matrix of the motion model in relation to the pose (state)
Eigen::MatrixXd	get_jacobian_motion_data (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t) override
	Get the Jacobian matrix of the motion model in relation to motion data (commands)
Public Member Functions inherited from V2PMotionModel
virtual	~V2PMotionModel ()=default
virtual Eigen::Vector3d	get_next_pose (const Eigen::Vector3d &previous_pose, const Eigen::VectorXd &motion_data, const double delta_t)
	Predict the pose of the robot given the motion data.

Detailed Description

Motion model that predicts the pose of the robot given the velocities with a constant acceleration and turnrate model.

Definition at line 11 of file constant_acceleration_turnrate_model.hpp.

Member Function Documentation

get_jacobian_motion_data()

Eigen::MatrixXd ConstantAccelerationTurnrateModel::get_jacobian_motion_data ( const Eigen::Vector3d &  previous_pose, const Eigen::VectorXd &  motion_data, const double  delta_t  )

overridevirtual

Get the Jacobian matrix of the motion model in relation to motion data (commands)

This is used to multiplty by the motion data noise to get the matrix to be summed to the covariance

Parameters

previous_pose
motion_data	(vx, vy, omega, ax)
delta_t

Returns

Eigen::Matrix3d

Implements V2PMotionModel.

Definition at line 62 of file constant_acceleration_turnrate_model.cpp.

get_jacobian_pose()

Eigen::Matrix3d ConstantAccelerationTurnrateModel::get_jacobian_pose ( const Eigen::Vector3d &  previous_pose, const Eigen::VectorXd &  motion_data, const double  delta_t  )

overridevirtual

Get the Jacobian matrix of the motion model in relation to the pose (state)

This is used to multiplty by the previous covariance to get the matrix, propagating the previous pose error to the current pose error (variance)

Parameters

previous_pose
motion_data	(vx, vy, omega, ax)
delta_t

Returns

Eigen::Matrix3d

Implements V2PMotionModel.

Definition at line 35 of file constant_acceleration_turnrate_model.cpp.

get_pose_difference()

Eigen::Vector3d ConstantAccelerationTurnrateModel::get_pose_difference ( const Eigen::Vector3d &  previous_pose, const Eigen::VectorXd &  motion_data, const double  delta_t  )

overridevirtual

Gives the increments to the pose instead of the next pose.

Parameters

previous_pose
motion_data	(vx, vy, omega, ax)
delta_t

Returns

Eigen::Vector3d

Implements V2PMotionModel.

Definition at line 6 of file constant_acceleration_turnrate_model.cpp.

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The documentation for this class was generated from the following files:

• src/motion_lib/include/motion_lib/v2p_models/constant_acceleration_turnrate_model.hpp
• src/motion_lib/src/v2p_models/constant_acceleration_turnrate_model.cpp