motion_models.hpp File Reference

#include <eigen3/Eigen/Dense>
#include <functional>
#include <map>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <typeinfo>

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Classes
struct	MotionUpdate
	Struct for data retrieved by the IMU. More...
class	MotionModel
	Abstract Moiton Model class designed to be implemented by the different motion models. More...
class	ImuVelocityModel
	Motion estimation that uses the specific values of the x and y axis accelerations, being the angle of the vehicle and its position independent. More...
class	NormalVelocityModel
	Motion estimation that uses the module of the velocity and the rotational velocity. More...

Variables
const std::map< std::string, std::function< std::shared_ptr< MotionModel >(const Eigen::MatrixXf &)>, std::less<> >	motion_model_constructors
	Map object to map strings from launch file parameter to constructor.

Variable Documentation

motion_model_constructors

const std::map<std::string, std::function<std::shared_ptr<MotionModel>(const Eigen::MatrixXf &)>, std::less<> > motion_model_constructors

Initial value:

= {
        {"normal_velocity_model",
         [](const Eigen::MatrixXf &process_noise_covariance_matrix)
             -> std::shared_ptr<MotionModel> {
           return std::make_shared<NormalVelocityModel>(process_noise_covariance_matrix);
         }},
        {"imu_velocity_model",
         [](const Eigen::MatrixXf &process_noise_covariance_matrix)
             -> std::shared_ptr<MotionModel> {
           return std::make_shared<ImuVelocityModel>(process_noise_covariance_matrix);
         }}}

Map object to map strings from launch file parameter to constructor.

Definition at line 185 of file motion_models.hpp.