ADORe
ADORe is a modular open source software library and toolkit for decision making, planning, control and simulation of automated vehicles
adore::apps::LocalizationModel Class Reference

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

#include <localizationmodel.h>

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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::APLocalizationModelparams_
 

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

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