Class OmniMotionModel

• Defined in File omni_motion_model.hpp

Inheritance Relationships

Base Type

• public nav2_amcl::MotionModel (Class MotionModel)

Class Documentation

class OmniMotionModel : public nav2_amcl::MotionModel

Public Functions

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

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)

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