jafar::slam::Odo3dPredictModel Class Reference

3d odometry predict model. More...

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Detailed Description

3d odometry predict model.

Definition at line 73 of file odo3dPredictModel.hpp.

#include <odo3dPredictModel.hpp>

Inheritance diagram for jafar::slam::Odo3dPredictModel:

List of all members.

Public Member Functions
void	setModel (double kvv_, double kvw_, double kwv_, double kww_, double kzv_, double kprs_)
	Set the standard deviation of the robot displacement.
void	computeUCov (jblas::vec const &u)
	compute the covariance of the command, by default do nothing.
void	predict (jblas::vec_range &x_r, jblas::vec const &u)
	prediction function.
Public Attributes
OdoNoiseModel	odoNoiseModel
	2D odometry error model
double	kzs
double	kprs
double	robotToRef_yaw
	transformation robot to ref (only the yaw)

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Member Function Documentation

void jafar::slam::Odo3dPredictModel::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.

void jafar::slam::Odo3dPredictModel::setModel	(	double	kvv_,
		double	kvw_,
		double	kwv_,
		double	kww_,
		double	kzv_,
		double	kprs_
	)

Set the standard deviation of the robot displacement.

Parameters:

kvv_	see OdoNoiseModel::set(double,double,double,double)
kvw_	see OdoNoiseModel::set(double,double,double,double)
kwv_	see OdoNoiseModel::set(double,double,double,double)
kww_	see OdoNoiseModel::set(double,double,double,double)
kzs_	dynamic model, coefficient of dynamic noise on the vertical displacement, when the robot moves on a straight line (m/sqrt(m))
kprs_	dynamic model, coefficient of dynamic noise on pitch and roll, when the robot moves on a straight line (rad/sqrt(m))

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

• modules/slam/include/slam/odo3dPredictModel.hpp