ecl::demos::SlidingObservationModel Class Reference

Inheritance diagram for ecl::demos::SlidingObservationModel:

List of all members.

Public Member Functions
LandMark	createLandMark (const Vector2d &initial_state)
void	deleteLandMark (const LandMark &landmark)
Innovation	innovation (const Observation &observation, const Feature &feature, const Pose &current_pose)
Observation	prediction (const Feature &feature, const Pose &current_pose)
	SlidingObservationModel (SlidingFilterBase &ekf_arrays)
Private Member Functions
Noise	noise ()
Jacobian	observationJacobian (const Feature &feature, const Pose &current_pose)
Private Attributes
FeatureVariance	initial_variance

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Detailed Description

Definition at line 134 of file slammer1d.cpp.

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Constructor & Destructor Documentation

ecl::demos::SlidingObservationModel::SlidingObservationModel

(

SlidingFilterBase &

ekf_arrays

)

[inline]

Definition at line 136 of file slammer1d.cpp.

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Member Function Documentation

LandMark ecl::demos::SlidingObservationModel::createLandMark

(

const Vector2d &

initial_state

)

[inline]

Definition at line 142 of file slammer1d.cpp.

void ecl::demos::SlidingObservationModel::deleteLandMark

(

const LandMark &

landmark

)

[inline]

Definition at line 146 of file slammer1d.cpp.

Innovation ecl::demos::SlidingObservationModel::innovation	(	const Observation &	observation,
		const Feature &	feature,
		const Pose &	current_pose
	)		[inline, virtual]

Implements ecl::slam_ekf::GenericObservationModel< class >.

Definition at line 157 of file slammer1d.cpp.

Noise ecl::demos::SlidingObservationModel::noise

(

)

[inline, private, virtual]

Implements ecl::slam_ekf::GenericObservationModel< class >.

Definition at line 182 of file slammer1d.cpp.

Jacobian ecl::demos::SlidingObservationModel::observationJacobian	(	const Feature &	feature,
		const Pose &	current_pose
	)		[inline, private, virtual]

angle_predicted = arctan ( z_l / (x_l-x_r) ) = h([x_r, 0, 0, .. , x_l, z_l, 0, .., 0])

The observation jacobian has two parts, the robot part (dangle/dx_r) and the landmark part (dangle/dx_l, dangle/dx_r).

dangle/dx_r = z_l/(x_l-x_r)^2

Implements ecl::slam_ekf::GenericObservationModel< class >.

Definition at line 171 of file slammer1d.cpp.

Observation ecl::demos::SlidingObservationModel::prediction	(	const Feature &	feature,
		const Pose &	current_pose
	)		[inline]

Definition at line 150 of file slammer1d.cpp.

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Member Data Documentation

FeatureVariance ecl::demos::SlidingObservationModel::initial_variance [private]

Definition at line 191 of file slammer1d.cpp.

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

• slammer1d.cpp