jafar::filter::JacobianBlockPredictModel Class Reference

Non linear prediction model defined for one block. More...

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Detailed Description

Non linear prediction 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 212 of file predictModel.hpp.

#include <predictModel.hpp>

Inheritance diagram for jafar::filter::JacobianBlockPredictModel:

List of all members.

Public Member Functions
	JacobianBlockPredictModel (std::size_t sizeState)
virtual void	predict (jblas::vec_range &x_r)=0
	prediction function.

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Member Function Documentation

virtual void jafar::filter::JacobianBlockPredictModel::predict

(

jblas::vec_range &

x_r

)

[pure virtual]

prediction function.

predict() implementation should look like:

   void MyPredictModel::predict(jblas::vec& x_r) {
     // compute jacobian aroud x_t, store it in F
     // compute x_t+1 function of x_t
     // store result in x
   }

Implemented in jafar::slam::SegmentFeatureContraintModel.

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

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