mtt: /home/laradmin/lar/perception/planarobstacles/mtt/include/mtt/motionModel.h Source File

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00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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00032 #ifndef _MOTIONMODEL_H_
00033 #define _MOTIONMODEL_H_
00034 
00035 #include <Eigen/Dense>
00036 #include <mtt/nonholonomicEKFilter.h>
00037 
00038 class MotionModel;
00039 
00046 class MotionModel
00047 {
00048         public:
00050                 Vector5d _x;
00052                 Vector5d _xp;
00054                 Vector3d _z;
00056                 Matrix5d _P;
00057                 
00059                 nonholonomicEKFilter _estimator;
00060                 
00061                 MotionModel();
00062 
00063                 void initEstimator(Vector5d& x,Matrix5d& P);
00064                 
00065                 void initEstimator(Vector3d& z);
00066 
00067                 void stepEstimator(Vector3d z);
00068 };
00069 
00070 #endif