jafar::slam::BaseRobot Class Reference

Base robot model. More...

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Detailed Description

Base robot model.

It gives access to information about the robot state in the filter, such as the index in the filter, or convenient vectors/matrixes that point to the state and covariance.

Definition at line 22 of file robot.hpp.

#include <robot.hpp>

Inheritance diagram for jafar::slam::BaseRobot:

List of all members.

Public Member Functions
	BaseRobot (unsigned int id, jafar::filter::JacobianBlockCommandPredictModel &model, std::size_t sizePose=6)
std::size_t	sizePose () const
std::size_t	sizeState () const
jblas::vec_range *	refPose ()
jblas::sym_mat_range *	refPoseCov ()
const jblas::vec_range *	refPose () const
const jblas::sym_mat_range *	refPoseCov () const
Public Attributes
jafar::filter::JacobianBlockCommandPredictModel &	model
Private Attributes
std::size_t	m_sizePose
jblas::vec_range *	m_refPose
jblas::sym_mat_range *	m_refPoseCov
Friends
class	SlamEkf

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Member Function Documentation

jblas::vec_range* jafar::slam::BaseRobot::refPose

(

)

[inline]

Returns:

a vector range corresponding to the pose of the robot

Definition at line 40 of file robot.hpp.

const jblas::vec_range* jafar::slam::BaseRobot::refPose

(

)

const [inline]

Returns:

a vector range corresponding to the pose of the robot

Definition at line 48 of file robot.hpp.

jblas::sym_mat_range* jafar::slam::BaseRobot::refPoseCov

(

)

[inline]

Returns:

the covariance matrix corresponding to the pose of the robot

Definition at line 44 of file robot.hpp.

const jblas::sym_mat_range* jafar::slam::BaseRobot::refPoseCov

(

)

const [inline]

Returns:

the covariance matrix corresponding to the pose of the robot

Definition at line 52 of file robot.hpp.

std::size_t jafar::slam::BaseRobot::sizePose

(

)

const [inline]

Returns:

the size of the pose vector

Definition at line 32 of file robot.hpp.

std::size_t jafar::slam::BaseRobot::sizeState

(

)

const [virtual]

Returns:

the size of the state of the robot

Implements jafar::slam::AbstractMapObject.

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

• modules/slam/include/slam/robot.hpp