a model for localization adds errors to true vehicle state More...
#include <localizationmodel.h>
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_ |
a model for localization adds errors to true vehicle state
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simulation step of the odometry estimate model
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current heading error
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current X error
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current X error
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current Y error
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current Y error
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< reads "true" state from vehicle model
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< writes "estimate" for vehicle state odometry based state estimation model parameters
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