Odometry noise model. More...

Detailed Description

Odometry noise model.

Definition at line 17 of file odo3dPredictModel.hpp.

Public Member Functions
void	set (double kvv_, double kvw_, double kwv_, double kww_)
	Set the standard deviation of the robot displacement.
void	computeCov (jblas::vec const &vw, jblas::sym_mat &vwCov) const
	Computes odometry covariance according to the noise model.
Public Attributes
double	kvv
	see kvv_ in OdoNoiseModel::set(double,double,double,double)
double	kvw
	see kvw_ in OdoNoiseModel::set(double,double,double,double)
double	kwv
	see kwv_ in OdoNoiseModel::set(double,double,double,double)
double	kww
	see kww_ in OdoNoiseModel::set(double,double,double,double)

Member Function Documentation

void jafar::slam::OdoNoiseModel::computeCov	(	jblas::vec const &	vw,
		jblas::sym_mat &	vwCov
	)		const `[inline]`

Computes odometry covariance according to the noise model.

Parameters:

[in]	vw	odometry (forward speed and yaw-rotation speed)
[out]	vwCov	odometry covariance

Definition at line 53 of file odo3dPredictModel.hpp.

References JFR_PRECOND, kvv, kvw, kwv, and kww.

void jafar::slam::OdoNoiseModel::set	(	double	kvv_,
		double	kvw_,
		double	kwv_,
		double	kww_
	)		`[inline]`

Set the standard deviation of the robot displacement.

Parameters:

kvv_	error on the axial displacement, when the robot moves on a straight line (m/sqrt(m)) for a value of kvv = 0.05, the error is of 5cm when the robots move of 1 meter (and of 10cm when it moves of 4 meters)
kvw_	error on the axial displacement, when the robot turns on itself (m/sqrt(rad))
kwv_	error on the angle, when the robot moves on a straight line (rad/sqrt(m))
kww_	error on the angle, when the robot turns on itself (rad/sqrt(rad))

Definition at line 39 of file odo3dPredictModel.hpp.

References kvv, kvw, kwv, and kww.

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