nav2_amcl::DifferentialMotionModel Class Reference

Inheritance diagram for nav2_amcl::DifferentialMotionModel:

Collaboration diagram for nav2_amcl::DifferentialMotionModel:

Public Member Functions
virtual void	initialize (double alpha1, double alpha2, double alpha3, double alpha4, double alpha5)
	An factory to create motion models. More...
virtual void	odometryUpdate (pf_t *pf, const pf_vector_t &pose, const pf_vector_t &delta)
	Update on new odometry data. More...

Detailed Description

Definition at line 35 of file differential_motion_model.hpp.

Member Function Documentation

initialize()

void nav2_amcl::DifferentialMotionModel::initialize ( double  alpha1, double  alpha2, double  alpha3, double  alpha4, double  alpha5  )

virtual

An factory to create motion models.

Parameters

type	Type of motion model to create in factory
alpha1	error parameters, see documentation
alpha2	error parameters, see documentation
alpha3	error parameters, see documentation
alpha4	error parameters, see documentation
alpha5	error parameters, see documentation

Returns

MotionModel A pointer to the motion model it created

Implements nav2_amcl::MotionModel.

Definition at line 28 of file differential_motion_model.cpp.

odometryUpdate()

void nav2_amcl::DifferentialMotionModel::odometryUpdate ( pf_t *  pf, const pf_vector_t &  pose, const pf_vector_t &  delta  )

virtual

Update on new odometry data.

Parameters

pf	The particle filter to update
pose	pose of robot in odometry update
delta	change in pose in odometry update

Implements nav2_amcl::MotionModel.

Definition at line 40 of file differential_motion_model.cpp.

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

• nav2_amcl/include/nav2_amcl/motion_model/differential_motion_model.hpp
• nav2_amcl/src/motion_model/differential_motion_model.cpp