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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)
 

Detailed Description

template<typename floatT>
struct SystemModelSE3< floatT >

Definition at line 78 of file SystemModel.h.

Member Typedef Documentation

◆ ControlNoiseT

template<typename floatT>
using ControlNoiseT
Initial value:
Eigen::Matrix<FloatT, dim::control, 1>

Definition at line 91 of file SystemModel.h.

◆ ControlT

template<typename floatT>
using ControlT = ControlSE3<FloatT>

Definition at line 89 of file SystemModel.h.

◆ FloatT

template<typename floatT>
using FloatT = floatT

Definition at line 87 of file SystemModel.h.

◆ ObsT

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

Definition at line 90 of file SystemModel.h.

◆ SigmaPointsT

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

Definition at line 93 of file SystemModel.h.

◆ StateT

template<typename floatT>
using StateT = StateSE3<FloatT>

Definition at line 88 of file SystemModel.h.

Member Function Documentation

◆ inverseRetraction()

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

Definition at line 54 of file SystemModel.cpp.

◆ observationFunction()

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

Definition at line 34 of file SystemModel.cpp.

◆ propagationFunction()

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

Definition at line 42 of file SystemModel.cpp.

◆ retraction()

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

Definition at line 63 of file SystemModel.cpp.

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