24 #include <manif/SE2.h>
25 #include <manif/SO2.h>
31 template <
typename floatT>
38 template <
typename floatT>
45 template <
typename floatT>
48 static_assert(std::is_floating_point_v<floatT>);
59 Matrix<FloatT, dim::control, 1>;
80 template <
typename floatT>
86 template <
typename floatT>
92 template <
typename floatT>
95 static_assert(std::is_floating_point_v<floatT>);
98 static constexpr
long state = 3,
control = 3, obs = 3;
106 Matrix<FloatT, dim::control, 1>;
109 static ObsT observationFunction(
const StateT& state);
127 template <
typename floatT>
134 template <
typename floatT>
139 template <
typename floatT>
142 static_assert(std::is_floating_point_v<floatT>);
145 static constexpr
long state = 6,
control = 1, obs = 3;
153 Matrix<FloatT, dim::control, 1>;
156 static ObsT observationFunction(
const StateT& state);