37 template class System_<GroundVehicleModel>;
43 min_height_ = -std::numeric_limits<double>::quiet_NaN();
44 max_height_ = std::numeric_limits<double>::quiet_NaN();
78 state.
velocity()->segment(x_dot) += -
gain_ * R.col(2) * (R.col(2).dot(v));
90 state.
velocity()->block(A) += -
gain_ * R.col(2) * R.col(2).transpose();
virtual void getDerivative(StateVector &x_dot, const State &state)
virtual const boost::shared_ptr< OrientationStateType > & orientation() const
virtual SystemStatus getStatusFlags(const State &state)
Matrix_< 3, 3 >::type RotationMatrix
virtual bool limitState(State &state)
virtual void getPrior(State &state)
const State::RotationMatrix & R() const
virtual ConstVelocityType getVelocity() const
virtual const boost::shared_ptr< PositionStateType > & position() const
Matrix_< 3, 3 >::type dR3
virtual void getDerivative(StateVector &x_dot, const State &state)
virtual SystemStatus getStatusFlags(const State &state)
ParameterList & add(const std::string &key, T &value, const T &default_value)
ParameterList & parameters()
virtual bool init(PoseEstimation &estimator, System &system, State &state)
virtual bool limitState(State &state)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW GroundVehicleModel()
unsigned int SystemStatus
virtual const boost::shared_ptr< VelocityStateType > & velocity() const
virtual void getPrior(State &state)
virtual ~GroundVehicleModel()
virtual void getStateJacobian(SystemMatrix &A, const State &state, bool init=true)
virtual void getStateJacobian(SystemMatrix &A, const State &state, bool init=true)
VectorBlock< const Vector, 3 > ConstVelocityType