Class MotionModel

Defined in File motion_model.hpp

Inheritance Relationships

Derived Types

public nav2_amcl::DifferentialMotionModel (Class DifferentialMotionModel)
public nav2_amcl::OmniMotionModel (Class OmniMotionModel)

Class Documentation

class MotionModel

An abstract motion model class.

Subclassed by nav2_amcl::DifferentialMotionModel, nav2_amcl::OmniMotionModel

Public Functions

virtual ~MotionModel() = default

virtual void initialize(double alpha1, double alpha2, double alpha3, double alpha4, double alpha5) = 0

An factory to create motion models.

Parameters:

type – Type of motion model to create in factory
alpha1 – error parameters, see documentation
alpha2 – error parameters, see documentation
alpha3 – error parameters, see documentation
alpha4 – error parameters, see documentation
alpha5 – error parameters, see documentation

Returns:

MotionModel A pointer to the motion model it created

virtual void odometryUpdate(pf_t *pf, const pf_vector_t &pose, const pf_vector_t &delta) = 0

Update on new odometry data.

Parameters:

pf – The particle filter to update
pose – pose of robot in odometry update
delta – change in pose in odometry update