Motion model that predicts the pose of the robot given the velocities with a constant velocity model. More...

Inheritance diagram for ConstantVelocityModel:

Collaboration diagram for ConstantVelocityModel:

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 velocity model.

Member Function Documentation

Eigen::MatrixXd ConstantVelocityModel::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

Eigen::Matrix3d ConstantVelocityModel::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

Eigen::Vector3d ConstantVelocityModel::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

Definition at line 7 of file constant_velocity_model.cpp.

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