Beluga named requirements: MotionModel

Requirements for a motion model to be used in a Beluga ParticleFilter.

Requirements

A type T satisfies the MotionModel requirements if the following is satisfied:

• T::state_type is a valid type, representing a particle state.
• T::control_type is a valid type, representing a control action to condition the motion model.

Given:

• A possibly const instance cp of T.
• A possibly const instance u of T::control_type (or convertible type U).

Then:

• cp(u) returns a callable satisfying Beluga named requirements: StateSamplingFunction for T::state_type.

Beluga named requirements: StateSamplingFunction

Requirements for a callable to sample a motion distribution when propagating particle states in a Beluga ParticleFilter.

Requirements

A type F satisfies the StateSamplingFunction requirements for some state type S if:

Given:

• A possibly const instance fn of F.
• A possible const instance s of S.
• An instance e satisfying URNG requirements.

Then:

• fn(s, e) returns another sampled state ss of S.

See also

• beluga::DifferentialDriveModel
• beluga::OmnidirectionalDriveModel
• beluga::StationaryModel