Class MotionModel

Inheritance Relationships

Derived Types

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