beluga::StationaryModel Class Reference

A stationary motion model. More...

#include <stationary_model.hpp>

Public Types
using	control_type = std::tuple< Sophus::SE2d, Sophus::SE2d >
	Current and previous odometry estimates as motion model control action. More...
using	state_type = Sophus::SE2d
	2D pose as motion model state (to match that of the particles). More...

Public Member Functions
template<class Control , typename = common_tuple_type_t<Control, control_type>>
auto	operator() ([[maybe_unused]] Control &&) const
	Computes a state sampling function conditioned on a given control action. More...

Detailed Description

A stationary motion model.

This class satisfies Beluga named requirements: MotionModel.

It ignores all odometry updates and only adds Gaussian noise to the input states.

Definition at line 39 of file stationary_model.hpp.

Member Typedef Documentation

control_type

using beluga::StationaryModel::control_type = std::tuple<Sophus::SE2d, Sophus::SE2d>

Current and previous odometry estimates as motion model control action.

Definition at line 42 of file stationary_model.hpp.

state_type

using beluga::StationaryModel::state_type = Sophus::SE2d

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

Definition at line 44 of file stationary_model.hpp.

Member Function Documentation

operator()()

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

auto beluga::StationaryModel::operator() ( [[maybe_unused] ] Control &&  ) const

inline

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

The updated state will be centered around state with some covariance. For this model, control actions are ignored.

Template Parameters

Control

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

Returns

a callable satisfying Beluga named requirements: StateSamplingFunction.

Definition at line 55 of file stationary_model.hpp.

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

• stationary_model.hpp