Implementation of a Gauss-Markov process to model the current velocity and direction according to [1] [1] Fossen, Thor I. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons, 2011. More...
#include <GaussMarkovProcess.hh>
Public Member Functions | |
| GaussMarkovProcess () | |
| Class constructor. More... | |
| void | Print () |
| Print current model paramters. More... | |
| void | Reset () |
| Resets the process parameters. More... | |
| bool | SetMean (double _mean) |
| Set mean process value. More... | |
| bool | SetModel (double _mean, double _min, double _max, double _mu=0, double _noise=0) |
| Sets all the necessary parameters for the computation. More... | |
| double | Update (double _time) |
| Update function for a new time stamp. More... | |
Public Attributes | |
| double | lastUpdate |
| Timestamp for the last update. More... | |
| double | max |
| Maximum limit for the process variable. More... | |
| double | mean |
| Mean process value. More... | |
| double | min |
| Minimum limit for the process variable. More... | |
| double | mu |
| Process constant, if zero, process becomes a random walk. More... | |
| double | noiseAmp |
| Gaussian white noise amplitude. More... | |
| double | var |
| Process variable. More... | |
Implementation of a Gauss-Markov process to model the current velocity and direction according to [1] [1] Fossen, Thor I. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons, 2011.
Definition at line 33 of file GaussMarkovProcess.hh.
| gazebo::GaussMarkovProcess::GaussMarkovProcess | ( | ) |
Class constructor.
Definition at line 23 of file GaussMarkovProcess.cc.
| void gazebo::GaussMarkovProcess::Print | ( | ) |
Print current model paramters.
Definition at line 89 of file GaussMarkovProcess.cc.
| void gazebo::GaussMarkovProcess::Reset | ( | ) |
Resets the process parameters.
Definition at line 35 of file GaussMarkovProcess.cc.
| bool gazebo::GaussMarkovProcess::SetMean | ( | double | _mean | ) |
Set mean process value.
| _mean | New mean value |
Definition at line 41 of file GaussMarkovProcess.cc.
| bool gazebo::GaussMarkovProcess::SetModel | ( | double | _mean, |
| double | _min, | ||
| double | _max, | ||
| double | _mu = 0, |
||
| double | _noise = 0 |
||
| ) |
Sets all the necessary parameters for the computation.
| _mean | Mean value |
| _min | Minimum limit |
| _max | Maximum limit |
| _mu | Process constant |
| _noise | Amplitude for the Gaussian white noise |
Definition at line 52 of file GaussMarkovProcess.cc.
| double gazebo::GaussMarkovProcess::Update | ( | double | _time | ) |
Update function for a new time stamp.
| _time | Current time stamp |
Definition at line 74 of file GaussMarkovProcess.cc.
| double gazebo::GaussMarkovProcess::lastUpdate |
Timestamp for the last update.
Definition at line 75 of file GaussMarkovProcess.hh.
| double gazebo::GaussMarkovProcess::max |
Maximum limit for the process variable.
Definition at line 66 of file GaussMarkovProcess.hh.
| double gazebo::GaussMarkovProcess::mean |
Mean process value.
Definition at line 60 of file GaussMarkovProcess.hh.
| double gazebo::GaussMarkovProcess::min |
Minimum limit for the process variable.
Definition at line 63 of file GaussMarkovProcess.hh.
| double gazebo::GaussMarkovProcess::mu |
Process constant, if zero, process becomes a random walk.
Definition at line 69 of file GaussMarkovProcess.hh.
| double gazebo::GaussMarkovProcess::noiseAmp |
Gaussian white noise amplitude.
Definition at line 72 of file GaussMarkovProcess.hh.
| double gazebo::GaussMarkovProcess::var |
Process variable.
Definition at line 57 of file GaussMarkovProcess.hh.