gazebo::GaussMarkovProcess Class Reference

Implementation of a Gauss-Markov process to model the current velocity and direction according to [1] [1] Fossen, Thor I. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons, 2011. More...

#include <GaussMarkovProcess.hh>

Public Member Functions
	GaussMarkovProcess ()
	Class constructor. More...
void	Print ()
	Print current model paramters. More...
void	Reset ()
	Resets the process parameters. More...
bool	SetMean (double _mean)
	Set mean process value. More...
bool	SetModel (double _mean, double _min, double _max, double _mu=0, double _noise=0)
	Sets all the necessary parameters for the computation. More...
double	Update (double _time)
	Update function for a new time stamp. More...

Public Attributes
double	lastUpdate
	Timestamp for the last update. More...
double	max
	Maximum limit for the process variable. More...
double	mean
	Mean process value. More...
double	min
	Minimum limit for the process variable. More...
double	mu
	Process constant, if zero, process becomes a random walk. More...
double	noiseAmp
	Gaussian white noise amplitude. More...
double	var
	Process variable. More...

Detailed Description

Implementation of a Gauss-Markov process to model the current velocity and direction according to [1] [1] Fossen, Thor I. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons, 2011.

Definition at line 33 of file GaussMarkovProcess.hh.

Constructor & Destructor Documentation

GaussMarkovProcess()

gazebo::GaussMarkovProcess::GaussMarkovProcess

(

)

Class constructor.

Definition at line 23 of file GaussMarkovProcess.cc.

Member Function Documentation

Print()

void gazebo::GaussMarkovProcess::Print

(

)

Print current model paramters.

Definition at line 89 of file GaussMarkovProcess.cc.

Reset()

void gazebo::GaussMarkovProcess::Reset

(

)

Resets the process parameters.

Definition at line 35 of file GaussMarkovProcess.cc.

SetMean()

bool gazebo::GaussMarkovProcess::SetMean

(

double

_mean

)

Set mean process value.

Parameters

_mean

New mean value

Returns

True, if value inside the limit range

Definition at line 41 of file GaussMarkovProcess.cc.

SetModel()

bool gazebo::GaussMarkovProcess::SetModel	(	double	_mean,
		double	_min,
		double	_max,
		double	_mu = 0,
		double	_noise = 0
	)

Sets all the necessary parameters for the computation.

Parameters

_mean	Mean value
_min	Minimum limit
_max	Maximum limit
_mu	Process constant
_noise	Amplitude for the Gaussian white noise

Returns

True, if all parameters were valid

Definition at line 52 of file GaussMarkovProcess.cc.

Update()

double gazebo::GaussMarkovProcess::Update

(

double

_time

)

Update function for a new time stamp.

Parameters

_time

Current time stamp

Definition at line 74 of file GaussMarkovProcess.cc.

Member Data Documentation

lastUpdate

double gazebo::GaussMarkovProcess::lastUpdate

Timestamp for the last update.

Definition at line 75 of file GaussMarkovProcess.hh.

max

double gazebo::GaussMarkovProcess::max

Maximum limit for the process variable.

Definition at line 66 of file GaussMarkovProcess.hh.

mean

double gazebo::GaussMarkovProcess::mean

Mean process value.

Definition at line 60 of file GaussMarkovProcess.hh.

min

double gazebo::GaussMarkovProcess::min

Minimum limit for the process variable.

Definition at line 63 of file GaussMarkovProcess.hh.

mu

double gazebo::GaussMarkovProcess::mu

Process constant, if zero, process becomes a random walk.

Definition at line 69 of file GaussMarkovProcess.hh.

noiseAmp

double gazebo::GaussMarkovProcess::noiseAmp

Gaussian white noise amplitude.

Definition at line 72 of file GaussMarkovProcess.hh.

var

double gazebo::GaussMarkovProcess::var

Process variable.

Definition at line 57 of file GaussMarkovProcess.hh.

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

• GaussMarkovProcess.hh
• GaussMarkovProcess.cc