56 params_ = paramfactory->getLocalizationModel();
92 double phijump =
rand() * 3.141592653589793;
105 double phidrift =
rand() * 3.141592653589793;
115 double phijump =
rand() * 3.141592653589793;
a model for localization adds errors to true vehicle state
Definition: localizationmodel.h:31
adore::params::APLocalizationModel * params_
Definition: localizationmodel.h:46
adore::mad::AReader< adore::fun::VehicleMotionState9d > * vehicle_model_input_
Definition: localizationmodel.h:44
std::normal_distribution< double > ndistribution_
Definition: localizationmodel.h:34
adore::mad::AWriter< adore::fun::VehicleMotionState9d > * localization_estimate_output_
Definition: localizationmodel.h:45
double nrand()
Definition: localizationmodel.h:65
virtual void update()
simulation step of the odometry estimate model
Definition: localizationmodel.h:80
LocalizationModel(adore::sim::AFactory *sim_factory=adore::sim::SimFactoryInstance::get(), adore::params::AFactory *paramfactory=adore::params::ParamsFactoryInstance::get(), unsigned int seed=0)
Definition: localizationmodel.h:49
double eXjump
Definition: localizationmodel.h:38
std::uniform_real_distribution< double > udistribution_
Definition: localizationmodel.h:35
double eYdrift
Definition: localizationmodel.h:37
double ePSI
Definition: localizationmodel.h:40
double eXdrift
Definition: localizationmodel.h:36
double eYjump
Definition: localizationmodel.h:39
double last_time_
Definition: localizationmodel.h:42
double rand()
Definition: localizationmodel.h:70
std::default_random_engine generator_
Definition: localizationmodel.h:33
bool last_time_valid_
Definition: localizationmodel.h:41
virtual void getData(T &value)=0
virtual bool hasData() const =0
virtual void write(const T &value)=0
abstract factory for adore::params classes
Definition: afactory.h:54
abstract class containing parameters which configure localization state estimation model
Definition: ap_localizationmodel.h:26
virtual double get_jump_threshold_pos() const =0
virtual double get_jump_deviation_pos() const =0
virtual double get_drift_deviation_pos() const =0
virtual double get_jump_threshold_heading() const =0
virtual double get_drift_rate_pos() const =0
virtual double get_jump_deviation_heading() const =0
static adore::params::AFactory * get()
Definition: afactory.h:103
abstract factory for adore::sim communication
Definition: afactory.h:43
static adore::sim::AFactory * get()
Definition: afactory.h:145
interval< T > cos(interval< T > x)
Definition: intervalarithmetic.h:225
T bound(T lb, T value, T ub)
Definition: adoremath.h:569
interval< T > sin(interval< T > x)
Definition: intervalarithmetic.h:204
Definition: areaofeffectconverter.h:20
This struct holds the motion state of the vehicle in 9d.
Definition: vehiclemotionstate9d.h:39
void setY(double value)
Set the y-coordinate.
Definition: vehiclemotionstate9d.h:121
double getX() const
Get the x-coordinate.
Definition: vehiclemotionstate9d.h:54
double getY() const
Get the y-coordinate.
Definition: vehiclemotionstate9d.h:60
double getPSI() const
Get the heading.
Definition: vehiclemotionstate9d.h:72
void setX(double value)
Set the x-coordinate.
Definition: vehiclemotionstate9d.h:115
void setPSI(double value)
set the heading
Definition: vehiclemotionstate9d.h:133
double getTime() const
Get the time.
Definition: vehiclemotionstate9d.h:48