constant_velocity_nh Class Reference

Nonholonomic constant velocity motion model. More...

#include <motion_model.h>

List of all members.

Public Member Functions
	constant_velocity_nh (double _l, double _dt, scan_matching_method _method)
	Constructor.
void	updateDt (double _dt)
	Update the iteration interval.
Public Attributes
double	dt
	Iteration interval.
double	l
	Wheel base of the nonholonomic vehicle.
Protected Member Functions
void	makeA ()
	Make the process Jacobian matrix.
void	makeH ()
	Make measurement sensitivity matrix.
void	makeMeasure ()
	Make measurement, used when measurement is not possible (i'm not using it now).
void	makeProcess ()
	Make process, model iteration.
void	makeQ ()
	Make process noise covariance matrix.
void	makeR ()
	Make measurement noise covariance matrix.
void	makeV ()
	Make measurement noise sensitivity matrix.
void	makeW ()
	Make process noise sensitivity matrix.
Protected Attributes
scan_matching_method	method
	Scan matching method used, this will influence the errors.

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Detailed Description

Nonholonomic constant velocity motion model.

Extended Kalman Filter using a nonholonomic constant velocity motion model, by other works a simplistic non-linear car model.

Definition at line 47 of file motion_model.h.

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Constructor & Destructor Documentation

constant_velocity_nh::constant_velocity_nh	(	double	_l,
		double	_dt,
		scan_matching_method	_method
	)

Constructor.

Definition at line 34 of file motion_model.cpp.

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Member Function Documentation

void constant_velocity_nh::makeA

(

)

[protected]

Make the process Jacobian matrix.

Definition at line 71 of file motion_model.cpp.

void constant_velocity_nh::makeH

(

)

[protected]

Make measurement sensitivity matrix.

Definition at line 123 of file motion_model.cpp.

void constant_velocity_nh::makeMeasure

(

)

[protected]

Make measurement, used when measurement is not possible (i'm not using it now).

Definition at line 209 of file motion_model.cpp.

void constant_velocity_nh::makeProcess

(

)

[protected]

Make process, model iteration.

Definition at line 185 of file motion_model.cpp.

void constant_velocity_nh::makeQ

(

)

[protected]

Make process noise covariance matrix.

Definition at line 313 of file motion_model.cpp.

void constant_velocity_nh::makeR

(

)

[protected]

Make measurement noise covariance matrix.

Definition at line 223 of file motion_model.cpp.

void constant_velocity_nh::makeV

(

)

[protected]

Make measurement noise sensitivity matrix.

Definition at line 215 of file motion_model.cpp.

void constant_velocity_nh::makeW

(

)

[protected]

Make process noise sensitivity matrix.

Definition at line 140 of file motion_model.cpp.

void constant_velocity_nh::updateDt

(

double

_dt

)

Update the iteration interval.

Definition at line 66 of file motion_model.cpp.

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Member Data Documentation

double constant_velocity_nh::dt

Iteration interval.

Definition at line 58 of file motion_model.h.

double constant_velocity_nh::l

Wheel base of the nonholonomic vehicle.

Definition at line 56 of file motion_model.h.

scan_matching_method constant_velocity_nh::method [protected]

Scan matching method used, this will influence the errors.

Definition at line 108 of file motion_model.h.

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

• /home/laradmin/lar/perception/lidar_egomotion/src/motion_model.h
• /home/laradmin/lar/perception/lidar_egomotion/src/motion_model.cpp