beluga::OmnidirectionalDriveModel Class Reference

Sampled odometry model for an omnidirectional drive. More...

#include <omnidirectional_drive_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	param_type = OmnidirectionalDriveModelParam
	Parameter type that the constructor uses to configure the motion model. More...
using	state_type = Sophus::SE2d
	2D pose as motion model state (to match that of the particles). More...

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

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

Private Attributes
param_type	params_

Detailed Description

Sampled odometry model for an omnidirectional drive.

This class satisfies Beluga named requirements: MotionModel.

Definition at line 78 of file omnidirectional_drive_model.hpp.

Member Typedef Documentation

control_type

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

Current and previous odometry estimates as motion model control action.

Definition at line 81 of file omnidirectional_drive_model.hpp.

param_type

using beluga::OmnidirectionalDriveModel::param_type = OmnidirectionalDriveModelParam

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

Definition at line 86 of file omnidirectional_drive_model.hpp.

state_type

using beluga::OmnidirectionalDriveModel::state_type = Sophus::SE2d

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

Definition at line 83 of file omnidirectional_drive_model.hpp.

Constructor & Destructor Documentation

OmnidirectionalDriveModel()

beluga::OmnidirectionalDriveModel::OmnidirectionalDriveModel ( const param_type &  params )

inlineexplicit

Constructs an OmnidirectionalDriveModel instance.

Parameters

params

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

Definition at line 93 of file omnidirectional_drive_model.hpp.

Member Function Documentation

operator()()

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

auto beluga::OmnidirectionalDriveModel::operator() ( 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_action_type.

Parameters

action

Control action to condition the motion model with.

Returns

a callable satisfying Beluga named requirements: StateSamplingFunction.

Definition at line 102 of file omnidirectional_drive_model.hpp.

rotation_variance()

static double beluga::OmnidirectionalDriveModel::rotation_variance ( const Sophus::SO2d &  rotation )

inlinestaticprivate

Definition at line 151 of file omnidirectional_drive_model.hpp.

Member Data Documentation

params_

param_type beluga::OmnidirectionalDriveModel::params_

private

Definition at line 149 of file omnidirectional_drive_model.hpp.

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

• omnidirectional_drive_model.hpp