jafar::filter::JacobianBlockCommandPredictModel Class Reference

Non linear prediction with an input command model defined for one block. More...

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Detailed Description

Non linear prediction with an input command model defined for one block.

To define your own model you must derive this class. This model is well suited for robot state prediction in the SLAM problem.

Definition at line 244 of file predictModel.hpp.

#include <predictModel.hpp>

Inheritance diagram for jafar::filter::JacobianBlockCommandPredictModel:

List of all members.

Public Member Functions
	JacobianBlockCommandPredictModel (std::size_t sizeState, std::size_t sizeCommand)
virtual void	predict (jblas::vec_range &x_r, jblas::vec const &u_)=0
	prediction function.

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Member Function Documentation

virtual void jafar::filter::JacobianBlockCommandPredictModel::predict	(	jblas::vec_range &	x_r,
		jblas::vec const &	u_
	)		[pure virtual]

prediction function.

predict() implementation should look like:

   void MyPredictModel::predict(jblas::vec_range& x_r, jblas::vec const& u_) {
     // compute jacobian aroud x_t, store it in F
     // compute jacobian aroud u_, store it in G
     // compute Q if relevant
     // compute x_t+1 function of x_t and u_
     // store result in x
   }

Implemented in jafar::slam::Odo3dPredictModel, and jafar::slam::Full3dPredictModel.

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

• modules/filter/include/filter/predictModel.hpp