jafar::slam::Full3dPredictModel Class Reference

Full 3d predict model. More...

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Detailed Description

Full 3d predict model.

This model takes a full 3d transformation as input command.

Don't forget to set the covariance matrix using for instance setUCov.

Definition at line 23 of file full3dPredictModel.hpp.

#include <full3dPredictModel.hpp>

Inheritance diagram for jafar::slam::Full3dPredictModel:

List of all members.

Public Member Functions
jafar::geom::T3D const &	predToRef () const
jafar::geom::T3D const &	refToPred () const
void	setPredToRef (jafar::geom::T3DEuler const &predToRef)
void	predict (jblas::vec_range &x_r, jblas::vec const &u)
	prediction function.
Private Attributes
geom::T3D *	m_predToRef
	prediction frame to reference frame
geom::T3D *	m_refToPred
	reference frame to prediction frame

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Member Function Documentation

void jafar::slam::Full3dPredictModel::predict	(	jblas::vec_range &	x_r,
		jblas::vec const &	u_
	)		[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
   }

Implements jafar::filter::JacobianBlockCommandPredictModel.

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

• modules/slam/include/slam/full3dPredictModel.hpp