adore::apps::LocalizationModel Class Reference

a model for localization adds errors to true vehicle state More...

#include <localizationmodel.h>

Collaboration diagram for adore::apps::LocalizationModel:

Public Member Functions
	LocalizationModel (adore::sim::AFactory *sim_factory=adore::sim::SimFactoryInstance::get(), adore::params::AFactory *paramfactory=adore::params::ParamsFactoryInstance::get(), unsigned int seed=0)
double	nrand ()
double	rand ()
virtual void	update ()
	simulation step of the odometry estimate model More...

Private Attributes
std::default_random_engine	generator_
std::normal_distribution< double >	ndistribution_
std::uniform_real_distribution< double >	udistribution_
double	eXdrift
double	eYdrift
double	eXjump
double	eYjump
double	ePSI
bool	last_time_valid_
double	last_time_
adore::mad::AReader< adore::fun::VehicleMotionState9d > *	vehicle_model_input_
adore::mad::AWriter< adore::fun::VehicleMotionState9d > *	localization_estimate_output_
adore::params::APLocalizationModel *	params_

Detailed Description

a model for localization adds errors to true vehicle state

Constructor & Destructor Documentation

LocalizationModel()

adore::apps::LocalizationModel::LocalizationModel ( adore::sim::AFactory *  sim_factory = adore::sim::SimFactoryInstance::get(), adore::params::AFactory *  paramfactory = adore::params::ParamsFactoryInstance::get(), unsigned int  seed = 0  )

inline

Member Function Documentation

nrand()

double adore::apps::LocalizationModel::nrand ( )

inline

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rand()

double adore::apps::LocalizationModel::rand ( )

inline

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update()

virtual void adore::apps::LocalizationModel::update ( )

inlinevirtual

simulation step of the odometry estimate model

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Member Data Documentation

ePSI

double adore::apps::LocalizationModel::ePSI

private

current heading error

eXdrift

double adore::apps::LocalizationModel::eXdrift

private

current X error

eXjump

double adore::apps::LocalizationModel::eXjump

private

current X error

eYdrift

double adore::apps::LocalizationModel::eYdrift

private

current Y error

eYjump

double adore::apps::LocalizationModel::eYjump

private

current Y error

generator_

std::default_random_engine adore::apps::LocalizationModel::generator_

private

last_time_

double adore::apps::LocalizationModel::last_time_

private

last_time_valid_

bool adore::apps::LocalizationModel::last_time_valid_

private

localization_estimate_output_

adore::mad::AWriter<adore::fun::VehicleMotionState9d>* adore::apps::LocalizationModel::localization_estimate_output_

private

< reads "true" state from vehicle model

ndistribution_

std::normal_distribution<double> adore::apps::LocalizationModel::ndistribution_

private

params_

adore::params::APLocalizationModel* adore::apps::LocalizationModel::params_

private

< writes "estimate" for vehicle state odometry based state estimation model parameters

udistribution_

std::uniform_real_distribution<double> adore::apps::LocalizationModel::udistribution_

private

vehicle_model_input_

adore::mad::AReader<adore::fun::VehicleMotionState9d>* adore::apps::LocalizationModel::vehicle_model_input_

private

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The documentation for this class was generated from the following file:

• /home/fascar/temp/adore/libadore/libadore/adore/apps/include/adore/apps/localizationmodel.h