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SystemModelSO3xR3< 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 = ControlSO3xR3< FloatT >
 
using FloatT = floatT
 
using ObsT = Eigen::Matrix< FloatT, dim::obs, 1 >
 
using SigmaPointsT = Eigen::Matrix< FloatT, dim::state, 1 >
 
using StateT = StateSO3xR3< 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 SystemModelSO3xR3< floatT >

Definition at line 99 of file SystemModel.h.

Member Typedef Documentation

◆ ControlNoiseT

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

Definition at line 110 of file SystemModel.h.

◆ ControlT

using ControlT = ControlSO3xR3<FloatT>

Definition at line 108 of file SystemModel.h.

◆ FloatT

using FloatT = floatT

Definition at line 106 of file SystemModel.h.

◆ ObsT

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

Definition at line 109 of file SystemModel.h.

◆ SigmaPointsT

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

Definition at line 111 of file SystemModel.h.

◆ StateT

using StateT = StateSO3xR3<FloatT>

Definition at line 107 of file SystemModel.h.

Member Function Documentation

◆ inverseRetraction()

SystemModelSO3xR3< floatT >::SigmaPointsT inverseRetraction ( const StateT &  state1,
const StateT &  state2 
)
static

Definition at line 166 of file SystemModel.cpp.

◆ observationFunction()

SystemModelSO3xR3< floatT >::ObsT observationFunction ( const StateT &  state)
static

Definition at line 132 of file SystemModel.cpp.

◆ propagationFunction()

SystemModelSO3xR3< floatT >::StateT propagationFunction ( const StateT &  state,
const ControlT &  control,
const ControlNoiseT &  noise,
FloatT  dt 
)
static

Definition at line 141 of file SystemModel.cpp.

◆ retraction()

SystemModelSO3xR3< floatT >::StateT retraction ( const StateT &  state,
const SigmaPointsT &  sigmaPoints 
)
static

Definition at line 153 of file SystemModel.cpp.

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