adore::apps::OdometryModel Class Reference

a model for odometry sensor integrates velocities as measured with errors More...

#include <odometrymodel.h>

Collaboration diagram for adore::apps::OdometryModel:

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

Private Attributes
double	last_time_
double	integration_step_
bool	last_time_valid_
adore::fun::VehicleMotionState9d	x_estimate_
bool	relative_to_map_
std::default_random_engine	generator_
std::normal_distribution< double >	distribution_
adore::mad::AReader< adore::fun::VehicleMotionState9d > *	vehicle_model_input_
adore::mad::AWriter< adore::fun::VehicleMotionState9d > *	odometry_estimate_output_
adore::mad::OdeRK4< double >	solver_
adore::mad::AFeed< adore::sim::ResetVehiclePose > *	reset_pose_feed_
adore::params::APOdometryModel *	params_

Detailed Description

a model for odometry sensor integrates velocities as measured with errors

Constructor & Destructor Documentation

OdometryModel()

adore::apps::OdometryModel::OdometryModel ( 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::OdometryModel::nrand ( )

inline

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update()

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

inlinevirtual

simulation step of the odometry estimate model

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Member Data Documentation

distribution_

std::normal_distribution<double> adore::apps::OdometryModel::distribution_

private

generator_

std::default_random_engine adore::apps::OdometryModel::generator_

private

integration_step_

double adore::apps::OdometryModel::integration_step_

private

last_time_

double adore::apps::OdometryModel::last_time_

private

last_time_valid_

bool adore::apps::OdometryModel::last_time_valid_

private

odometry_estimate_output_

adore::mad::AWriter<adore::fun::VehicleMotionState9d>* adore::apps::OdometryModel::odometry_estimate_output_

private

< reads "true" state from vehicle model

params_

adore::params::APOdometryModel* adore::apps::OdometryModel::params_

private

< resets zero position (map origin) odometry based state estimation model parameters

relative_to_map_

bool adore::apps::OdometryModel::relative_to_map_

private

switch between map-relative odometry (default) and absolute odometry (debugging)

reset_pose_feed_

adore::mad::AFeed<adore::sim::ResetVehiclePose>* adore::apps::OdometryModel::reset_pose_feed_

private

solver_

adore::mad::OdeRK4<double> adore::apps::OdometryModel::solver_

private

< writes "estimate" for vehicle state

vehicle_model_input_

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

private

x_estimate_

adore::fun::VehicleMotionState9d adore::apps::OdometryModel::x_estimate_

private

last vehicle state estimate

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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/odometrymodel.h