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ecl::demos::SlidingObservationModel Class Reference
Inheritance diagram for ecl::demos::SlidingObservationModel:
Inheritance graph
[legend]

List of all members.

Public Member Functions

LandMark createLandMark (const Vector2d &initial_state)
void deleteLandMark (const LandMark &landmark)
Innovation innovation (const Observation &observation, const Feature &feature, const Pose &current_pose)
Observation prediction (const Feature &feature, const Pose &current_pose)
 SlidingObservationModel (SlidingFilterBase &ekf_arrays)

Private Member Functions

Noise noise ()
Jacobian observationJacobian (const Feature &feature, const Pose &current_pose)

Private Attributes

FeatureVariance initial_variance

Detailed Description

Definition at line 134 of file slammer1d.cpp.


Constructor & Destructor Documentation

Definition at line 136 of file slammer1d.cpp.


Member Function Documentation

LandMark ecl::demos::SlidingObservationModel::createLandMark ( const Vector2d &  initial_state) [inline]

Definition at line 142 of file slammer1d.cpp.

Definition at line 146 of file slammer1d.cpp.

Innovation ecl::demos::SlidingObservationModel::innovation ( const Observation observation,
const Feature feature,
const Pose current_pose 
) [inline, virtual]

Implements ecl::slam_ekf::GenericObservationModel< class >.

Definition at line 157 of file slammer1d.cpp.

Noise ecl::demos::SlidingObservationModel::noise ( ) [inline, private, virtual]

Implements ecl::slam_ekf::GenericObservationModel< class >.

Definition at line 182 of file slammer1d.cpp.

Jacobian ecl::demos::SlidingObservationModel::observationJacobian ( const Feature feature,
const Pose current_pose 
) [inline, private, virtual]

angle_predicted = arctan ( z_l / (x_l-x_r) ) = h([x_r, 0, 0, .. , x_l, z_l, 0, .., 0])

The observation jacobian has two parts, the robot part (dangle/dx_r) and the landmark part (dangle/dx_l, dangle/dx_r).

dangle/dx_r = z_l/(x_l-x_r)^2

Implements ecl::slam_ekf::GenericObservationModel< class >.

Definition at line 171 of file slammer1d.cpp.

Observation ecl::demos::SlidingObservationModel::prediction ( const Feature feature,
const Pose current_pose 
) [inline]

Definition at line 150 of file slammer1d.cpp.


Member Data Documentation

Definition at line 191 of file slammer1d.cpp.


The documentation for this class was generated from the following file:
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ecl_navigation_apps
Author(s): Daniel Stonier
autogenerated on Thu Apr 25 2013 15:26:28