tag::ConstantVelocity::Model Class Reference

#include <constantvelocity.h>

Collaboration diagram for tag::ConstantVelocity::Model:

Public Member Functions
	Model (void)
const TooN::Matrix < State::STATE_DIMENSION > &	getJacobian (const State &, const double dt)
void	updateState (State &state, const double dt)
const TooN::Matrix < State::STATE_DIMENSION > &	getNoiseCovariance (const double dt)
void	updateFromMeasurement (State &state, const TooN::Vector< State::STATE_DIMENSION > &innovation)

Public Attributes
TooN::Vector < State::STATE_DIMENSION >	sigma
TooN::Matrix < State::STATE_DIMENSION >	jacobian
TooN::Matrix < State::STATE_DIMENSION >	noise
double	damp

Detailed Description

The Model class implementing a constant velocity model. It also contains a damping factor that will attenuate the velocities at a rate of damp/s .

Constructor & Destructor Documentation

tag::ConstantVelocity::Model::Model ( void  )

inline

References damp, jacobian, noise, and sigma.

Member Function Documentation

const TooN::Matrix<State::STATE_DIMENSION>& tag::ConstantVelocity::Model::getJacobian ( const State &  , const double  dt  )

inline

References jacobian.

const TooN::Matrix<State::STATE_DIMENSION>& tag::ConstantVelocity::Model::getNoiseCovariance ( const double  dt )

inline

References noise, and sigma.

void tag::ConstantVelocity::Model::updateFromMeasurement ( State &  state, const TooN::Vector< State::STATE_DIMENSION > &  innovation  )

inline

References tag::ConstantVelocity::State::angularVelocity, tag::ConstantVelocity::State::pose, and tag::ConstantVelocity::State::velocity.

void tag::ConstantVelocity::Model::updateState ( State &  state, const double  dt  )

inline

References tag::ConstantVelocity::State::angularVelocity, damp, tag::ConstantVelocity::State::pose, and tag::ConstantVelocity::State::velocity.

Member Data Documentation

double tag::ConstantVelocity::Model::damp

Referenced by Model(), and updateState().

TooN::Matrix<State::STATE_DIMENSION> tag::ConstantVelocity::Model::jacobian

Referenced by getJacobian(), and Model().

TooN::Matrix<State::STATE_DIMENSION> tag::ConstantVelocity::Model::noise

Referenced by getNoiseCovariance(), and Model().

TooN::Vector<State::STATE_DIMENSION> tag::ConstantVelocity::Model::sigma

Referenced by getNoiseCovariance(), and Model().

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

• constantvelocity.h