#include <no_slip_bicycle_model.hpp>

Inheritance diagram for NoSlipBicycleModel:

Collaboration diagram for NoSlipBicycleModel:

Public Member Functions
	NoSlipBicycleModel (const common_lib::car_parameters::CarParameters &car_parameters)

Eigen::VectorXd	expected_observations (const Eigen::VectorXd &state) const override

Eigen::MatrixXd	expected_observations_jacobian (const Eigen::VectorXd &state) const override
	calculates the Jacobian of the expected_observations function with respect to the state.

Public Member Functions inherited from VEObservationModel
	VEObservationModel (const common_lib::car_parameters::CarParameters &car_parameters)

Additional Inherited Members
Protected Attributes inherited from VEObservationModel
std::shared_ptr< common_lib::car_parameters::CarParameters >	car_parameters_

Detailed Description

Definition at line 5 of file no_slip_bicycle_model.hpp.

Constructor & Destructor Documentation

◆ NoSlipBicycleModel()

NoSlipBicycleModel::NoSlipBicycleModel ( const common_lib::car_parameters::CarParameters & car_parameters )

inline

Definition at line 7 of file no_slip_bicycle_model.hpp.

Member Function Documentation

◆ expected_observations()

Eigen::VectorXd NoSlipBicycleModel::expected_observations ( const Eigen::VectorXd & state ) const

overridevirtual

Parameters

state velocities at the center of mass of the vehicle, in its body frame. The state vector must have the following structure: [vx, vy, angular velocity].

Returns: Eigen::VectorXd Expected WSS, SAS and Motor Resolver Readings with the following structure: [WSS_FL, WSS_FR, WSS_RL, WSS_RR, SAS, Motor Resolver]. WSS and Motor resolver readings are in RPMs, SAS is in radians.

Implements VEObservationModel.

Definition at line 3 of file no_slip_bicycle_model.cpp.

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◆ expected_observations_jacobian()

Eigen::MatrixXd NoSlipBicycleModel::expected_observations_jacobian ( const Eigen::VectorXd & state ) const

overridevirtual

calculates the Jacobian of the expected_observations function with respect to the state.

Parameters

state velocities at the CG

Returns: Eigen::MatrixXd of size (6, 3) where 6 is the number of expected observations

Implements VEObservationModel.

Definition at line 44 of file no_slip_bicycle_model.cpp.