Class HC_CC_State_Space

Inheritance Relationships

public steering::CC00_Dubins_State_Space (Class CC00_Dubins_State_Space)
public steering::CC00_Reeds_Shepp_State_Space (Class CC00_Reeds_Shepp_State_Space)
public steering::CC0pm_Dubins_State_Space (Class CC0pm_Dubins_State_Space)
public steering::CC_Dubins_State_Space (Class CC_Dubins_State_Space)
public steering::CCpm0_Dubins_State_Space (Class CCpm0_Dubins_State_Space)
public steering::CCpmpm_Dubins_State_Space (Class CCpmpm_Dubins_State_Space)
public steering::HC00_Reeds_Shepp_State_Space (Class HC00_Reeds_Shepp_State_Space)
public steering::HC0pm_Reeds_Shepp_State_Space (Class HC0pm_Reeds_Shepp_State_Space)
public steering::HC_Reeds_Shepp_State_Space (Class HC_Reeds_Shepp_State_Space)
public steering::HCpm0_Reeds_Shepp_State_Space (Class HCpm0_Reeds_Shepp_State_Space)
public steering::HCpmpm_Reeds_Shepp_State_Space (Class HCpmpm_Reeds_Shepp_State_Space)

class HC_CC_State_Space

Public Functions

HC_CC_State_Space(double kappa, double sigma, double discretization): Constructor.

void set_filter_parameters(const Motion_Noise &motion_noise, const Measurement_Noise &measurement_noise, const Controller &controller): Sets the parameters required by the filter.

virtual std::vector<Control> get_controls(const State &state1, const State &state2) const = 0: Virtual function that returns controls of the shortest path from state1 to state2.

std::vector<State> get_path(const State &state1, const State &state2) const: Returns path from state1 to state2.

std::vector<State_With_Covariance> get_path_with_covariance(const State_With_Covariance &state1, const State &state2) const: Returns path including covariances from state1 to state2.

std::vector<State> integrate(const State &state, const std::vector<Control> &controls) const: Returns integrated states given a start state and controls.

std::vector<State_With_Covariance> integrate_with_covariance(const State_With_Covariance &state, const std::vector<Control> &controls) const: Returns integrated states including covariance given a start state and controls.

State interpolate(const State &state, const std::vector<Control> &controls, double t) const: Returns interpolated state at distance t in [0,1] (percentage of total path length)

inline State integrate_ODE(const State &state, const Control &control, double integration_step) const: Returns integrated state given a start state, a control, and an integration step.

Protected Attributes