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SystemModelSE2< floatT > Struct Template Reference

#include <armarx/navigation/human/HumanSystemModel.h>

Classes

struct  dim
 

Public Types

using ControlNoiseT = Eigen::Matrix< FloatT, dim::control, 1 >
 
using ControlT = ControlSE2< FloatT >
 
using FloatT = floatT
 
using ObsT = Eigen::Matrix< FloatT, dim::obs, 1 >
 
using SigmaPointsT = Eigen::Matrix< FloatT, dim::state, 1 >
 
using StateT = StateSE2< 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 armarx::navigation::human::kalman_filter::SystemModelSE2< floatT >

Definition at line 93 of file HumanSystemModel.h.

Member Typedef Documentation

◆ ControlNoiseT

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

Definition at line 106 of file HumanSystemModel.h.

◆ ControlT

using ControlT = ControlSE2<FloatT>

Definition at line 103 of file HumanSystemModel.h.

◆ FloatT

using FloatT = floatT

Definition at line 101 of file HumanSystemModel.h.

◆ ObsT

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

Definition at line 104 of file HumanSystemModel.h.

◆ SigmaPointsT

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

Definition at line 107 of file HumanSystemModel.h.

◆ StateT

using StateT = StateSE2<FloatT>

Definition at line 102 of file HumanSystemModel.h.

Member Function Documentation

◆ inverseRetraction()

SystemModelSE2< floatT >::SigmaPointsT inverseRetraction ( const StateT &  state1,
const StateT &  state2 
)
static

Definition at line 105 of file HumanSystemModel.cpp.

◆ observationFunction()

SystemModelSE2< floatT >::ObsT observationFunction ( const StateT &  state)
static

Definition at line 73 of file HumanSystemModel.cpp.

◆ propagationFunction()

SystemModelSE2< floatT >::StateT propagationFunction ( const StateT &  state,
const ControlT &  control,
const ControlNoiseT &  noise,
FloatT  dt 
)
static

Definition at line 81 of file HumanSystemModel.cpp.

◆ retraction()

SystemModelSE2< floatT >::StateT retraction ( const StateT &  state,
const SigmaPointsT &  sigmaPoints 
)
static

Definition at line 93 of file HumanSystemModel.cpp.

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