This is a class simulating a mobile robot. More...
#include <mobile_robot.h>
Public Member Functions | |
MatrixWrapper::ColumnVector | GetState () |
MatrixWrapper::ColumnVector | Measure () |
MobileRobot () | |
void | Move (MatrixWrapper::ColumnVector inputs) |
~MobileRobot () | |
Private Attributes | |
LinearAnalyticMeasurementModelGaussianUncertainty * | _meas_model |
LinearAnalyticConditionalGaussian * | _meas_pdf |
Gaussian * | _measurement_Uncertainty |
MatrixWrapper::ColumnVector | _state |
AnalyticSystemModelGaussianUncertainty * | _sys_model |
NonLinearAnalyticConditionalGaussianMobile * | _sys_pdf |
Gaussian * | _system_Uncertainty |
This is a class simulating a mobile robot.
The state of the mobile robot is represented with a ColumnVector of three elements: the x and y position and the orientation. The inputs of the robot are the linear velocity and the angular velocity. The mobile robot is equipped with a ultrasonic sensor returning the distance to a wall. The initial position of the mobile robot is read from mobile_robot_wall_cts.h During construction time the measurement model and system model are constructed and their properties are read from mobile_robot_wall_cts.h
Definition at line 47 of file mobile_robot.h.
Definition at line 26 of file mobile_robot.cpp.
Definition at line 77 of file mobile_robot.cpp.
ColumnVector BFL::MobileRobot::GetState | ( | ) |
Definition at line 102 of file mobile_robot.cpp.
ColumnVector BFL::MobileRobot::Measure | ( | ) |
Definition at line 95 of file mobile_robot.cpp.
void BFL::MobileRobot::Move | ( | MatrixWrapper::ColumnVector | inputs | ) |
Definition at line 88 of file mobile_robot.cpp.
Definition at line 64 of file mobile_robot.h.
Definition at line 63 of file mobile_robot.h.
Definition at line 62 of file mobile_robot.h.
MatrixWrapper::ColumnVector BFL::MobileRobot::_state [private] |
Definition at line 65 of file mobile_robot.h.
Definition at line 61 of file mobile_robot.h.
Definition at line 60 of file mobile_robot.h.
Gaussian* BFL::MobileRobot::_system_Uncertainty [private] |
Definition at line 59 of file mobile_robot.h.