Nonholonomic constant velocity motion model. More...
#include <motion_model.h>
Public Member Functions | |
| constant_velocity_nh (double _l, double _dt, scan_matching_method _method) | |
| Constructor. More... | |
| void | updateDt (double _dt) |
| Update the iteration interval. More... | |
Public Attributes | |
| double | dt |
| Iteration interval. More... | |
| double | l |
| Wheel base of the nonholonomic vehicle. More... | |
Protected Member Functions | |
| void | makeA () |
| Make the process Jacobian matrix. More... | |
| void | makeH () |
| Make measurement sensitivity matrix. More... | |
| void | makeMeasure () |
| Make measurement, used when measurement is not possible (i'm not using it now) More... | |
| void | makeProcess () |
| Make process, model iteration. More... | |
| void | makeQ () |
| Make process noise covariance matrix. More... | |
| void | makeR () |
| Make measurement noise covariance matrix. More... | |
| void | makeV () |
| Make measurement noise sensitivity matrix. More... | |
| void | makeW () |
| Make process noise sensitivity matrix. More... | |
Protected Attributes | |
| scan_matching_method | method |
| Scan matching method used, this will influence the errors. More... | |
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.
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.
Member Function Documentation
|
protected |
Make the process Jacobian matrix.
Definition at line 71 of file motion_model.cpp.
|
protected |
Make measurement sensitivity matrix.
Definition at line 123 of file motion_model.cpp.
|
protected |
Make measurement, used when measurement is not possible (i'm not using it now)
Definition at line 209 of file motion_model.cpp.
|
protected |
Make process, model iteration.
Definition at line 185 of file motion_model.cpp.
|
protected |
Make process noise covariance matrix.
Definition at line 313 of file motion_model.cpp.
|
protected |
Make measurement noise covariance matrix.
Definition at line 223 of file motion_model.cpp.
|
protected |
Make measurement noise sensitivity matrix.
Definition at line 215 of file motion_model.cpp.
|
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.
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.
|
protected |
Scan matching method used, this will influence the errors.
Definition at line 108 of file motion_model.h.
The documentation for this class was generated from the following files: