SystemModelSE3< floatT > Struct Template Reference

#include <RobotAPI/libraries/ukfm/SystemModel.h>

Classes
struct	dim

Public Types
using	ControlNoiseT
using	ControlT = ControlSE3<FloatT>
using	FloatT = floatT
using	ObsT = Eigen::Matrix<FloatT, dim::obs, 1>
using	SigmaPointsT = Eigen::Matrix<FloatT, dim::state, 1>
using	StateT = StateSE3<FloatT>

Static Public Member Functions
static SigmaPointsT	inverseRetraction (const StateT &state1, const StateT &state2)
static ObsT	observationFunction (const StateT &state)
static StateT	propagationFunction (const StateT &state, const ControlT &control, const ControlNoiseT &noise, FloatT dt)
static StateT	retraction (const StateT &state, const SigmaPointsT &sigmaPoints)

Member Typedef Documentation

ControlNoiseT

template<typename floatT>

using ControlNoiseT

Initial value:

 
        Eigen::Matrix<FloatT, dim::control, 1>

ControlT

template<typename floatT>

using ControlT = ControlSE3<FloatT>

FloatT

template<typename floatT>

using FloatT = floatT

ObsT

template<typename floatT>

using ObsT = Eigen::Matrix<FloatT, dim::obs, 1>

SigmaPointsT

template<typename floatT>

using SigmaPointsT = Eigen::Matrix<FloatT, dim::state, 1>

StateT

template<typename floatT>

using StateT = StateSE3<FloatT>

Member Function Documentation

inverseRetraction()

template<typename floatT>

SystemModelSE3< floatT >::SigmaPointsT inverseRetraction ( const StateT & state1, const StateT & state2 )

static

observationFunction()

template<typename floatT>

SystemModelSE3< floatT >::ObsT observationFunction ( const StateT & state )

static

propagationFunction()

template<typename floatT>

SystemModelSE3< floatT >::StateT propagationFunction ( const StateT & state, const ControlT & control, const ControlNoiseT & noise, FloatT dt )

static

retraction()

template<typename floatT>

SystemModelSE3< floatT >::StateT retraction ( const StateT & state, const SigmaPointsT & sigmaPoints )

static

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

• RobotAPI/libraries/ukfm/SystemModel.h
• RobotAPI/libraries/ukfm/SystemModel.cpp