Function fuse_models::predict(const double, const double, const double, const double, const double, const double, const double, const double, const double, double&, double&, double&, double&, double&, double&, double&, double&, double **)

Function Documentation

inline void fuse_models::predict(const double position1_x, const double position1_y, const double yaw1, const double vel_linear1_x, const double vel_linear1_y, const double vel_yaw1, const double acc_linear1_x, const double acc_linear1_y, const double dt, double &position2_x, double &position2_y, double &yaw2, double &vel_linear2_x, double &vel_linear2_y, double &vel_yaw2, double &acc_linear2_x, double &acc_linear2_y, double **jacobians)

Given a state and time delta, predicts a new state.

Parameters:

  • position1_x – [in] - First X position

  • position1_y – [in] - First Y position

  • yaw1 – [in] - First orientation

  • vel_linear1_x – [in] - First X velocity

  • vel_linear1_y – [in] - First Y velocity

  • vel_yaw1 – [in] - First yaw velocity

  • acc_linear1_x – [in] - First X acceleration

  • acc_linear1_y – [in] - First Y acceleration

  • dt – [in] - The time delta across which to predict the state

  • position2_x – [out] - Second X position

  • position2_y – [out] - Second Y position

  • yaw2 – [out] - Second orientation

  • vel_linear2_x – [out] - Second X velocity

  • vel_linear2_y – [out] - Second Y velocity

  • vel_yaw2 – [out] - Second yaw velocity

  • acc_linear2_x – [out] - Second X acceleration

  • acc_linear2_y – [out] - Second Y acceleration

  • jacobians – [out] - Jacobians wrt the state