KinematicModel.hpp
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00034 *  Author: Đula Nađ
00035 *  Created: 01.09.2011.
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00037 #ifndef KINEMATICMODEL_HPP_
00038 #define KINEMATICMODEL_HPP_
00039 #include <labust/navigation/SSModel.hpp>
00040 
00041 namespace labust
00042 {
00043   namespace navigation
00044   {
00053     class KinematicModel : public SSModel<double>
00054     {
00055         typedef SSModel<double> Base;
00056     public:
00057       typedef vector input_type;
00058       typedef vector output_type;
00059 
00060       enum {xp=0,yp,Vv,psi,r};
00061       enum {stateNum = 5};
00062       enum {inputSize = 2};
00063         
00067       KinematicModel();
00071       ~KinematicModel();
00072 
00078       void step(const input_type& input);
00084       void estimate_y(output_type& y);
00088       void initModel();
00092       void calculateXYInovationVariance(const matrix& P,
00093                 double& xin,double &yin);
00094      
00095     protected:
00099       void calculateJacobian();
00100     };
00101   }
00102 }
00103 
00104 
00105 #endif /* KINEMATICMODEL_HPP_ */


labust_navigation
Author(s): Gyula Nagy
autogenerated on Fri Feb 7 2014 11:36:19