Template Function fuse_models::predict(const T *const, const T *const, const T *const, const T *const, const T *const, const T, T *const, T *const, T *const, T *const, T *const)

Function Documentation

template<typename T>
inline void fuse_models::predict(const T *const position1, const T *const yaw1, const T *const vel_linear1, const T *const vel_yaw1, const T *const acc_linear1, const T dt, T *const position2, T *const yaw2, T *const vel_linear2, T *const vel_yaw2, T *const acc_linear2)

Given a state and time delta, predicts a new state.

Parameters:

  • position1 – [in] - First position (array with x at index 0, y at index 1)

  • yaw1 – [in] - First orientation

  • vel_linear1 – [in] - First velocity (array with x at index 0, y at index 1)

  • vel_yaw1 – [in] - First yaw velocity

  • acc_linear1 – [in] - First linear acceleration (array with x at index 0, y at index 1)

  • dt – [in] - The time delta across which to predict the state

  • position2 – [out] - Second position (array with x at index 0, y at index 1)

  • yaw2 – [out] - Second orientation

  • vel_linear2 – [out] - Second velocity (array with x at index 0, y at index 1)

  • vel_yaw2 – [out] - Second yaw velocity

  • acc_linear2 – [out] - Second linear acceleration (array with x at index 0, y at index 1)