autoware::prediction::LinearMotionModel< StateT > Class Template Reference

A generic linear motion model class. More...

#include <linear_motion_model.hpp>

Inheritance diagram for autoware::prediction::LinearMotionModel< StateT >:

Collaboration diagram for autoware::prediction::LinearMotionModel< StateT >:

Public Types
using	State = StateT

Protected Member Functions
State	crtp_predict (const State &state, const std::chrono::nanoseconds &dt) const
	A crtp-called function that predicts the state forward. More...
State::Matrix	crtp_jacobian (const State &, const std::chrono::nanoseconds &) const
	A crtp-called function that computes a Jacobian. More...
template<>
KALMAN_FILTER_PUBLIC state::ConstAccelerationXYYaw::Matrix	crtp_jacobian (const State &state, const std::chrono::nanoseconds &dt) const
	A specialization of this function for a state::ConstAccelerationXYYaw state. More...
template<>
KALMAN_FILTER_PUBLIC state::ConstAccelerationXY::Matrix	crtp_jacobian (const State &state, const std::chrono::nanoseconds &dt) const
	A specialization of this function for a state::ConstAccelerationXY state. More...
template<>
state::ConstAccelerationXYYaw::Matrix	crtp_jacobian (const State &, const std::chrono::nanoseconds &dt) const
template<>
state::ConstAccelerationXY::Matrix	crtp_jacobian (const State &, const std::chrono::nanoseconds &dt) const
Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived >
const Derived &	impl () const
Derived &	impl ()

Protected Attributes
friend	MotionModelInterface< LinearMotionModel< StateT > >

Additional Inherited Members
Public Member Functions inherited from autoware::prediction::MotionModelInterface< Derived >
template<typename StateT >
auto	predict (const StateT &state, const std::chrono::nanoseconds &dt)
	Get the next predicted state. More...
template<typename StateT >
auto	jacobian (const StateT &state, const std::chrono::nanoseconds &dt) const
	Get the Jacobian of this motion model. More...

Detailed Description

template<typename StateT>
class autoware::prediction::LinearMotionModel< StateT >

A generic linear motion model class.

This class is designed to handle all the linear motion models, i.e., those that only have independent variables in them. In this case, the Jacobian is just a transition matrix.

Template Parameters

StateT

State type.

Member Typedef Documentation

State

template<typename StateT >

using autoware::prediction::LinearMotionModel< StateT >::State = StateT

Member Function Documentation

crtp_jacobian() [1/5]

template<>

state::ConstAccelerationXYYaw::Matrix autoware::prediction::LinearMotionModel< state::ConstAccelerationXYYaw >::crtp_jacobian ( const State &  , const std::chrono::nanoseconds &  dt  ) const

protected

crtp_jacobian() [2/5]

template<>

state::ConstAccelerationXY::Matrix autoware::prediction::LinearMotionModel< state::ConstAccelerationXY >::crtp_jacobian ( const State &  , const std::chrono::nanoseconds &  dt  ) const

protected

crtp_jacobian() [3/5]

template<typename StateT >

State::Matrix autoware::prediction::LinearMotionModel< StateT >::crtp_jacobian ( const State &  , const std::chrono::nanoseconds &    ) const

inlineprotected

A crtp-called function that computes a Jacobian.

crtp_jacobian() [4/5]

template<>

KALMAN_FILTER_PUBLIC state::ConstAccelerationXYYaw::Matrix autoware::prediction::LinearMotionModel< state::ConstAccelerationXYYaw >::crtp_jacobian ( const State &  state, const std::chrono::nanoseconds &  dt  ) const

protected

A specialization of this function for a state::ConstAccelerationXYYaw state.

Parameters

[in]	state	The current state. Unused in this function.
[in]	dt	Time difference.

Returns

The Jacobian matrix.

crtp_jacobian() [5/5]

template<>

KALMAN_FILTER_PUBLIC state::ConstAccelerationXY::Matrix autoware::prediction::LinearMotionModel< state::ConstAccelerationXY >::crtp_jacobian ( const State &  state, const std::chrono::nanoseconds &  dt  ) const

protected

A specialization of this function for a state::ConstAccelerationXY state.

Parameters

[in]	state	The current state. Unused in this function.
[in]	dt	Time difference.

Returns

The Jacobian matrix.

crtp_predict()

template<typename StateT >

State autoware::prediction::LinearMotionModel< StateT >::crtp_predict ( const State &  state, const std::chrono::nanoseconds &  dt  ) const

inlineprotected

A crtp-called function that predicts the state forward.

Parameters

[in]	state	The current state vector
[in]	dt	Time difference

Returns

New state after prediction.

Member Data Documentation

MotionModelInterface< LinearMotionModel< StateT > >

template<typename StateT >

friend autoware::prediction::LinearMotionModel< StateT >::MotionModelInterface< LinearMotionModel< StateT > >

protected

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

• linear_motion_model.hpp