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

Function Documentation

template<typename T>
inline void fuse_models::predict(const T position1_x, const T position1_y, const T yaw1, const T vel_linear1_x, const T vel_linear1_y, const T vel_yaw1, const T acc_linear1_x, const T acc_linear1_y, const T dt, T &position2_x, T &position2_y, T &yaw2, T &vel_linear2_x, T &vel_linear2_y, T &vel_yaw2, T &acc_linear2_x, T &acc_linear2_y)

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

Parameters:

  • position1_x – [in] - First X position

  • position1_y – [in] - First Y position

  • yaw1 – [in] - First orientation

  • vel_linear1_x – [in] - First X velocity

  • vel_linear1_y – [in] - First Y velocity

  • vel_yaw1 – [in] - First yaw velocity

  • acc_linear1_x – [in] - First X acceleration

  • acc_linear1_y – [in] - First Y acceleration

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

  • position2_x – [out] - Second X position

  • position2_y – [out] - Second Y position

  • yaw2 – [out] - Second orientation

  • vel_linear2_x – [out] - Second X velocity

  • vel_linear2_y – [out] - Second Y velocity

  • vel_yaw2 – [out] - Second yaw velocity

  • acc_linear2_x – [out] - Second X acceleration

  • acc_linear2_y – [out] - Second Y acceleration