constant_speed< N >::model Struct Reference

motion model More...

#include <constant_speed.h>

Public Member Functions
const covariance_type &	jacobian (const state &s, double dt)
	get the jacobian of the motion model
	model (double noiseSigma)
const covariance_type &	noise_covariance (double dt)
	get process noise covariance
void	update_state (state &s, double dt) const
	perform prediction update

Public Attributes
covariance_type	A
	noise sigma

Detailed Description

template<unsigned int N>
struct snark::constant_speed< N >::model

motion model

Constructor & Destructor Documentation

model

(

double

noiseSigma

)

constructor

Parameters

noiseSigma

process noise for speed and position TODO separate noise for position and speed ?

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

• constant_speed.h