Autoware.Auto
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A generic linear motion model class. More...
#include <linear_motion_model.hpp>
Public Types | |
using | State = StateT |
Protected Member Functions | |
State | crtp_predict (const State &state, const std::chrono::nanoseconds &dt) const |
A crtp-called function that predicts the state forward. More... | |
State::Matrix | crtp_jacobian (const State &, const std::chrono::nanoseconds &dt) const |
A crtp-called function that computes a Jacobian. More... | |
Protected Member Functions inherited from autoware::common::helper_functions::crtp< LinearMotionModel< StateT > > | |
const LinearMotionModel< StateT > & | impl () const |
LinearMotionModel< StateT > & | impl () |
Protected Attributes | |
friend | MotionModelInterface< LinearMotionModel< StateT > > |
Additional Inherited Members | |
Public Member Functions inherited from autoware::common::motion_model::MotionModelInterface< LinearMotionModel< StateT > > | |
auto | predict (const StateT &state, const std::chrono::nanoseconds &dt) const |
Get the next predicted state. More... | |
auto | jacobian (const StateT &state, const std::chrono::nanoseconds &dt) const |
Get the Jacobian of this motion model. More... | |
A generic linear motion model class.
This class is designed to handle all the linear motion models, i.e., those that only have independent variables in them. In this case, the Jacobian is just a transition matrix.
StateT | State type. |
using autoware::common::motion_model::LinearMotionModel< StateT >::State = StateT |
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A crtp-called function that computes a Jacobian.
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A crtp-called function that predicts the state forward.
[in] | state | The current state vector |
[in] | dt | Time difference |
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