gcop::KinbodyProjTrack< _nu > Class Template Reference

#include <kinbodyprojtrack.h>

Inheritance diagram for gcop::KinbodyProjTrack< _nu >:

Collaboration diagram for gcop::KinbodyProjTrack< _nu >:

List of all members.

Public Types
typedef Matrix< double, _nu, 1 >	Vectorud
typedef Matrix< double, 6, _nu >	Matrix6ud
typedef Matrix< double, 6, 6 >	Matrix6d
Public Member Functions
	KinbodyProjTrack (Kinbody3d< _nu > &sys, int nf, double vd0, double t0, double tf, double r=25, bool extforce=false, bool forces=false)
virtual void	Get (Matrix4d &x, double vd, double t) const
virtual void	MakeTrue ()
virtual void	Add (const Vectorud &u, const Matrix4d &x, double h)
virtual void	Add2 (const Vectorud &u, const Matrix4d &x, double h)

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Detailed Description

template<int _nu = 6>
class gcop::KinbodyProjTrack< _nu >

Pose-track in 2D. This is the simplese possible definition assuming point (unprojected) features e.g. from stereo/laser scans with uniform spherical covariance. The framework can be easily extended to any general 2d/3d non-uniform or projected features as well.

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Member Typedef Documentation

template<int _nu = 6>

typedef Matrix<double, 6, 6> gcop::KinbodyProjTrack< _nu >::Matrix6d

template<int _nu = 6>

typedef Matrix<double, 6, _nu> gcop::KinbodyProjTrack< _nu >::Matrix6ud

template<int _nu = 6>

typedef Matrix<double, _nu, 1> gcop::KinbodyProjTrack< _nu >::Vectorud

Reimplemented from gcop::Kinbody3dTrack< _nu >.

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Constructor & Destructor Documentation

template<int _nu>

gcop::KinbodyProjTrack< _nu >::KinbodyProjTrack	(	Kinbody3d< _nu > &	sys,
		int	nf,
		double	vd0,
		double	t0,
		double	tf,
		double	r = 25,
		bool	extforce = false,
		bool	forces = false
	)

Pose graph (using simulated features around a circular track)

Parameters:

sys	body3d system
nf	number of features (landmarks)
t0	start time
tf	end time
r	radius
odometry	is odometry available
extforce	treat constant external force in x-y as a parameter
forces	use uncertain forces in the cost function

References gcop::KinbodyProjTrack< _nu >::Get(), gcop::Kinbody3dTrack< _nu >::xos, and gcop::Kinbody3dTrack< _nu >::xs.

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Member Function Documentation

template<int _nu>

void gcop::KinbodyProjTrack< _nu >::Add	(	const Vectorud &	u,
		const Matrix4d &	x,
		double	h
	)		[virtual]

Reimplemented from gcop::Kinbody3dTrack< _nu >.

References gcop::random_normal().

template<int _nu>

void gcop::KinbodyProjTrack< _nu >::Add2	(	const Vectorud &	u,
		const Matrix4d &	x,
		double	h
	)		[virtual]

Add a new state/control to estimation vector

Parameters:

u	commanded control
x	true state (to generate measurements)
h	time-step

Reimplemented from gcop::Kinbody3dTrack< _nu >.

References gcop::random_normal().

template<int _nu>

void gcop::KinbodyProjTrack< _nu >::Get	(	Matrix4d &	x,
		double	vd,
		double	t
	)		const [virtual]

Reimplemented from gcop::Kinbody3dTrack< _nu >.

Referenced by gcop::KinbodyProjTrack< _nu >::KinbodyProjTrack().

template<int _nu>

void gcop::KinbodyProjTrack< _nu >::MakeTrue

(

)

[virtual]

Reimplemented from gcop::Kinbody3dTrack< _nu >.

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

• lib/systems/kinbodyprojtrack.h