MotionModel Class Reference

Nonholonomic Motion model abstraction layer. More...

#include <motionModel.h>

Inheritance diagram for MotionModel:

[legend]

List of all members.

Public Member Functions
void	initEstimator (Vector3d &z)
void	initEstimator (Vector5d &x, Matrix5d &P)
	MotionModel ()
void	stepEstimator (Vector3d z)
Public Attributes
nonholonomicEKFilter	_estimator
	Local estimator for process, Kalman filter with a constant velocity.
Matrix5d	_P
	Posteriori error covariance.
Vector5d	_x
	Estimated state.
Vector5d	_xp
	Predicted x.
Vector3d	_z
	Measurement vector.

---

Detailed Description

Nonholonomic Motion model abstraction layer.

This class encapsulates the underlaying motion model used. It provides an abstraction layer for the Mht class to work with, without having to deal with the Kalman filter directly.

Definition at line 46 of file motionModel.h.

---

Constructor & Destructor Documentation

MotionModel::MotionModel

(

)

Definition at line 34 of file motionModel.cpp.

---

Member Function Documentation

void MotionModel::initEstimator

(

Vector3d &

z

)

Definition at line 48 of file motionModel.cpp.

void MotionModel::initEstimator	(	Vector5d &	x,
		Matrix5d &	P
	)

Definition at line 42 of file motionModel.cpp.

void MotionModel::stepEstimator

(

Vector3d

z

)

Definition at line 99 of file motionModel.cpp.

---

Member Data Documentation

nonholonomicEKFilter MotionModel::_estimator

Local estimator for process, Kalman filter with a constant velocity.

Definition at line 59 of file motionModel.h.

Matrix5d MotionModel::_P

Posteriori error covariance.

Definition at line 56 of file motionModel.h.

Vector5d MotionModel::_x

Estimated state.

Definition at line 50 of file motionModel.h.

Vector5d MotionModel::_xp

Predicted x.

Definition at line 52 of file motionModel.h.

Vector3d MotionModel::_z

Measurement vector.

Definition at line 54 of file motionModel.h.

---

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

• /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/motionModel.h
• /home/laradmin/lar/perception/planarobstacles/mtt/src/motionModel.cpp