autoware::common::state_estimation::UniformNoise< StateT > Class Template Reference

This class contains the logic for a uniform noise model. More...

#include <uniform_noise.hpp>

Inheritance diagram for autoware::common::state_estimation::UniformNoise< StateT >:

Collaboration diagram for autoware::common::state_estimation::UniformNoise< StateT >:

Public Types
using	State = StateT
	A convenience typedef for the state for which this noise model is to be used. More...

Public Member Functions
	UniformNoise (const Matrix &covariance) noexcept
	Create the noise model from an existing covariance matrix. More...
template<typename OtherScalarT >
	UniformNoise (const std::array< OtherScalarT, State::size()> &variances) noexcept
	Create the noise model from an array. More...
template<typename OtherScalarT >
	UniformNoise (const std::vector< OtherScalarT > &variances)
	Create the noise model from a vector. More...
template<typename ... VarianceTs>
	UniformNoise (const Scalar variance, const VarianceTs ... variances)
	Create noise model from variances directly. More...
Public Member Functions inherited from autoware::common::state_estimation::NoiseInterface< Derived >
auto	covariance (const std::chrono::nanoseconds &dt) const
	Get a covariance matrix for this noise model. More...

Protected Member Functions
Matrix	crtp_covariance (const std::chrono::nanoseconds &dt) const noexcept
	A CRTP-called covariance getter. More...

Protected Attributes
friend	NoiseInterface< UniformNoise< StateT > >

Detailed Description

template<typename StateT>
class autoware::common::state_estimation::UniformNoise< StateT >

This class contains the logic for a uniform noise model.

Template Parameters

StateT

State vector type for which this noise model is created.

Member Typedef Documentation

State

template<typename StateT >

using autoware::common::state_estimation::UniformNoise< StateT >::State = StateT

A convenience typedef for the state for which this noise model is to be used.

Constructor & Destructor Documentation

UniformNoise() [1/4]

template<typename StateT >

autoware::common::state_estimation::UniformNoise< StateT >::UniformNoise ( const Matrix &  covariance )

inlineexplicitnoexcept

Create the noise model from an existing covariance matrix.

Parameters

[in]

covariance

The covariance

UniformNoise() [2/4]

template<typename StateT >

template<typename OtherScalarT >

autoware::common::state_estimation::UniformNoise< StateT >::UniformNoise ( const std::array< OtherScalarT, State::size()> &  variances )

inlineexplicitnoexcept

Create the noise model from an array.

Parameters

[in]

variances

The values for variances, i.e., values for σ (not squared)

Template Parameters

OtherScalarT

Some scalar type.

UniformNoise() [3/4]

template<typename StateT >

template<typename OtherScalarT >

autoware::common::state_estimation::UniformNoise< StateT >::UniformNoise ( const std::vector< OtherScalarT > &  variances )

inlineexplicit

Create the noise model from a vector.

Parameters

[in]

variances

The values for variances, i.e., values for σ (not squared)

Exceptions

std::runtime_error

if the vector is of a wrong size.

Template Parameters

OtherScalarT

Some scalar type.

UniformNoise() [4/4]

template<typename StateT >

template<typename ... VarianceTs>

autoware::common::state_estimation::UniformNoise< StateT >::UniformNoise ( const Scalar  variance, const VarianceTs ...  variances  )

inlineexplicit

Create noise model from variances directly.

Parameters

[in]	variance	The first variance, i.e., value for σ (not squared)
[in]	variances	The variances for all the other variables

Template Parameters

VarianceTs

Types for other variances.

Member Function Documentation

crtp_covariance()

template<typename StateT >

Matrix autoware::common::state_estimation::UniformNoise< StateT >::crtp_covariance ( const std::chrono::nanoseconds &  dt ) const

inlineprotectednoexcept

A CRTP-called covariance getter.

Returns

A covariance of the noise process over a given time span.

Member Data Documentation

NoiseInterface< UniformNoise< StateT > >

template<typename StateT >

friend autoware::common::state_estimation::UniformNoise< StateT >::NoiseInterface< UniformNoise< StateT > >

protected

Allow the interface to access the protected and private members to visually encapsulate the implementation.

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

• uniform_noise.hpp