Function fuse_models::predict(const tf2_2d::Transform&, const tf2_2d::Vector2&, const double, const tf2_2d::Vector2&, const double, tf2_2d::Transform&, tf2_2d::Vector2&, double&, tf2_2d::Vector2&, fuse_core::Matrix8d&)

Function Documentation

inline void fuse_models::predict(const tf2_2d::Transform &pose1, const tf2_2d::Vector2 &vel_linear1, const double vel_yaw1, const tf2_2d::Vector2 &acc_linear1, const double dt, tf2_2d::Transform &pose2, tf2_2d::Vector2 &vel_linear2, double &vel_yaw2, tf2_2d::Vector2 &acc_linear2, fuse_core::Matrix8d &jacobian)

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

Parameters:

  • pose1 – [in] - The first 2D pose

  • vel_linear_1 – [in] - The first linear velocity

  • vel_yaw1 – [in] - The first yaw velocity

  • acc_linear1 – [in] - The first linear acceleration

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

  • pose2 – [in] - The second 2D pose

  • vel_linear_2 – [in] - The second linear velocity

  • vel_yaw2 – [in] - The second yaw velocity

  • acc_linear2 – [in] - The second linear acceleration

  • jacobian – [in] - The jacobian wrt the state