SystemModelSE3< floatT > Struct Template Reference

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

Classes
struct	dim

Public Types
using	ControlNoiseT = Eigen::Matrix< FloatT, dim::control, 1 >
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

using ControlNoiseT = Eigen::Matrix<FloatT, dim::control, 1>

Definition at line 92 of file SystemModel.h.

ControlT

using ControlT = ControlSE3<FloatT>

Definition at line 89 of file SystemModel.h.

FloatT

using FloatT = floatT

Definition at line 87 of file SystemModel.h.

ObsT

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

Definition at line 90 of file SystemModel.h.

SigmaPointsT

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

Definition at line 93 of file SystemModel.h.

StateT

using StateT = StateSE3<FloatT>

Definition at line 88 of file SystemModel.h.

Member Function Documentation

inverseRetraction()

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

static

Definition at line 54 of file SystemModel.cpp.

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observationFunction()

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

static

Definition at line 34 of file SystemModel.cpp.

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propagationFunction()

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

static

Definition at line 42 of file SystemModel.cpp.

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retraction()

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

static

Definition at line 63 of file SystemModel.cpp.

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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