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

A class that describes the Wiener process noise. More...

#include <wiener_noise.hpp>

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

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

Public Types
using	State = StateT

Public Member Functions
	WienerNoise (const AccelerationArray &acceleration_variances)
	Constructor from acceleration variances. More...
Public Member Functions inherited from autoware::common::state_estimation::NoiseInterface< WienerNoise< StateT > >
auto	covariance (const std::chrono::nanoseconds &dt) const
	Get a covariance matrix for this noise model. More...

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

Protected Attributes
friend	NoiseInterface< WienerNoise< StateT > >

Detailed Description

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

A class that describes the Wiener process noise.

For more details see notebook here: Noise model design

Template Parameters

StateT

A given state type.

Member Typedef Documentation

State

template<typename StateT >

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

Constructor & Destructor Documentation

WienerNoise()

template<typename StateT >

autoware::common::state_estimation::WienerNoise< StateT >::WienerNoise ( const AccelerationArray &  acceleration_variances )

inlineexplicit

Constructor from acceleration variances.

Parameters

[in]

acceleration_variances

The acceleration variances, note that these are sigmas, not sigmas squared. Note that while this array has place for all the variables, it should only hold those representing acceleration values. The positions of these variables in the array do not represent their position in the actual state vector and should start from the start of this array.

Member Function Documentation

crtp_covariance()

template<typename StateT >

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

protected

A CRTP-called covariance getter.

Returns

A covariance of the noise process over given time.

Member Data Documentation

NoiseInterface< WienerNoise< StateT > >

template<typename StateT >

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

protected

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

• wiener_noise.hpp
• wiener_noise.cpp