autoware::prediction::MotionModelInterface< Derived > Class Template Reference

A CRTP interface for any motion model. More...

#include <motion_model_interface.hpp>

Inheritance diagram for autoware::prediction::MotionModelInterface< Derived >:

Collaboration diagram for autoware::prediction::MotionModelInterface< Derived >:

Public Member Functions
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...

Additional Inherited Members
Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived >
const Derived &	impl () const
Derived &	impl ()

Detailed Description

template<typename Derived>
class autoware::prediction::MotionModelInterface< Derived >

A CRTP interface for any motion model.

Template Parameters

Derived

Motion model implementation class.

Member Function Documentation

jacobian()

template<typename Derived>

template<typename StateT >

auto autoware::prediction::MotionModelInterface< Derived >::jacobian ( const StateT &  state, const std::chrono::nanoseconds &  dt  ) const

inline

Get the Jacobian of this motion model.

Parameters

[in]	state	The current state.
[in]	dt	Time span.

Template Parameters

StateT

Type of the state.

Returns

A Jacobian of the motion model. In the linear case - a transition matrix.

predict()

template<typename Derived>

template<typename StateT >

auto autoware::prediction::MotionModelInterface< Derived >::predict ( const StateT &  state, const std::chrono::nanoseconds &  dt  )

inline

Get the next predicted state.

Parameters

[in]	state	The initial state
[in]	dt	Length of prediction into the future

Template Parameters

StateT

Type of the state.

Returns

Predicted state after the time has passed.

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

• motion_model_interface.hpp