List of all members | Classes | Public Types | Static Public Member Functions
SystemModelSE3xV< 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 = ControlSE3xV< FloatT >
 
using FloatT = floatT
 
using ObsT = Eigen::Matrix< FloatT, dim::obs, 1 >
 
using SigmaPointsT = Eigen::Matrix< FloatT, dim::state, 1 >
 
using StateT = StateSE3xV< 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 SystemModelSE3xV< floatT >

Definition at line 124 of file SystemModel.h.

Member Typedef Documentation

◆ ControlNoiseT

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

Definition at line 135 of file SystemModel.h.

◆ ControlT

using ControlT = ControlSE3xV<FloatT>

Definition at line 133 of file SystemModel.h.

◆ FloatT

using FloatT = floatT

Definition at line 131 of file SystemModel.h.

◆ ObsT

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

Definition at line 134 of file SystemModel.h.

◆ SigmaPointsT

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

Definition at line 136 of file SystemModel.h.

◆ StateT

using StateT = StateSE3xV<FloatT>

Definition at line 132 of file SystemModel.h.

Member Function Documentation

◆ inverseRetraction()

SystemModelSE3xV< floatT >::SigmaPointsT inverseRetraction ( const StateT &  state1,
const StateT &  state2 
)
static

Definition at line 117 of file SystemModel.cpp.

◆ observationFunction()

SystemModelSE3xV< floatT >::ObsT observationFunction ( const StateT &  state)
static

Definition at line 76 of file SystemModel.cpp.

◆ propagationFunction()

SystemModelSE3xV< floatT >::StateT propagationFunction ( const StateT &  state,
const ControlT &  control,
const ControlNoiseT &  noise,
FloatT  dt 
)
static

Definition at line 83 of file SystemModel.cpp.

◆ retraction()

SystemModelSE3xV< floatT >::StateT retraction ( const StateT &  state,
const SigmaPointsT &  sigmaPoints 
)
static

Definition at line 103 of file SystemModel.cpp.

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