beluga::DifferentialDriveModel< StateType > Class Template Reference

Sampled odometry model for a differential drive. More...

#include <differential_drive_model.hpp>

Public Types
using	control_type = std::tuple< state_type, state_type >
	Current and previous odometry estimates as motion model control action. More...
using	param_type = DifferentialDriveModelParam
	Parameter type that the constructor uses to configure the motion model. More...
using	state_type = StateType
	2D or flattened 3D pose as motion model state (to match that of the particles). More...

Public Member Functions
	DifferentialDriveModel (const param_type &params)
	Constructs a DifferentialDriveModel instance. More...
template<class Control , typename = common_tuple_type_t<Control, control_type>>
auto	operator() (const Control &action) const
	Computes a state sampling function conditioned on a given control action. More...

Private Types
using	control_type_2d = std::tuple< Sophus::SE2d, Sophus::SE2d >
using	control_type_3d = std::tuple< Sophus::SE3d, Sophus::SE3d >

Private Member Functions
auto	sampling_fn_2d (const Sophus::SE2d &pose, const Sophus::SE2d &previous_pose) const
auto	sampling_fn_3d (const Sophus::SE3d &pose, const Sophus::SE3d &previous_pose) const

Static Private Member Functions
static double	rotation_variance (const Sophus::SO2d &rotation)

Private Attributes
param_type	params_

Detailed Description

template<class StateType = Sophus::SE2d>
class beluga::DifferentialDriveModel< StateType >

Sampled odometry model for a differential drive.

Supports 2D and (flattened) 3D state types. This class satisfies Beluga named requirements: MotionModel.

See Probabilistic Robotics [thrun2005probabilistic] Chapter 5.4.2.

Template Parameters

StateType

Type for particle's state. Either Sophus::SE2d or Sophus::SE3d.

Definition at line 80 of file differential_drive_model.hpp.

Member Typedef Documentation

control_type

template<class StateType = Sophus::SE2d>

using beluga::DifferentialDriveModel< StateType >::control_type = std::tuple<state_type, state_type>

Current and previous odometry estimates as motion model control action.

Definition at line 90 of file differential_drive_model.hpp.

control_type_2d

template<class StateType = Sophus::SE2d>

using beluga::DifferentialDriveModel< StateType >::control_type_2d = std::tuple<Sophus::SE2d, Sophus::SE2d>

private

Definition at line 119 of file differential_drive_model.hpp.

control_type_3d

template<class StateType = Sophus::SE2d>

using beluga::DifferentialDriveModel< StateType >::control_type_3d = std::tuple<Sophus::SE3d, Sophus::SE3d>

private

Definition at line 120 of file differential_drive_model.hpp.

param_type

template<class StateType = Sophus::SE2d>

using beluga::DifferentialDriveModel< StateType >::param_type = DifferentialDriveModelParam

Parameter type that the constructor uses to configure the motion model.

Definition at line 93 of file differential_drive_model.hpp.

state_type

template<class StateType = Sophus::SE2d>

using beluga::DifferentialDriveModel< StateType >::state_type = StateType

2D or flattened 3D pose as motion model state (to match that of the particles).

Definition at line 87 of file differential_drive_model.hpp.

Constructor & Destructor Documentation

DifferentialDriveModel()

template<class StateType = Sophus::SE2d>

beluga::DifferentialDriveModel< StateType >::DifferentialDriveModel ( const param_type &  params )

inlineexplicit

Constructs a DifferentialDriveModel instance.

Parameters

params

Parameters to configure this instance. See beluga::DifferentialDriveModelParam for details.

Definition at line 100 of file differential_drive_model.hpp.

Member Function Documentation

operator()()

template<class StateType = Sophus::SE2d>

template<class Control , typename = common_tuple_type_t<Control, control_type>>

auto beluga::DifferentialDriveModel< StateType >::operator() ( const Control &  action ) const

inline

Computes a state sampling function conditioned on a given control action.

Template Parameters

Control

A tuple-like container matching the model's control_type.

Parameters

action

Control action to condition the motion model with.

Returns

a callable satisfying Beluga named requirements: StateSamplingFunction.

Definition at line 109 of file differential_drive_model.hpp.

rotation_variance()

template<class StateType = Sophus::SE2d>

static double beluga::DifferentialDriveModel< StateType >::rotation_variance ( const Sophus::SO2d &  rotation )

inlinestaticprivate

Definition at line 167 of file differential_drive_model.hpp.

sampling_fn_2d()

template<class StateType = Sophus::SE2d>

auto beluga::DifferentialDriveModel< StateType >::sampling_fn_2d ( const Sophus::SE2d &  pose, const Sophus::SE2d &  previous_pose  ) const

inlineprivate

Definition at line 129 of file differential_drive_model.hpp.

sampling_fn_3d()

template<class StateType = Sophus::SE2d>

auto beluga::DifferentialDriveModel< StateType >::sampling_fn_3d ( const Sophus::SE3d &  pose, const Sophus::SE3d &  previous_pose  ) const

inlineprivate

Definition at line 122 of file differential_drive_model.hpp.

Member Data Documentation

params_

template<class StateType = Sophus::SE2d>

param_type beluga::DifferentialDriveModel< StateType >::params_

private

Definition at line 165 of file differential_drive_model.hpp.

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The documentation for this class was generated from the following file:

• differential_drive_model.hpp