An abstract motion model class. More...
#include <nav2_amcl/include/nav2_amcl/motion_model/motion_model.hpp>
Inheritance diagram for nav2_amcl::MotionModel:
Public Member Functions | |
| virtual void | initialize (double alpha1, double alpha2, double alpha3, double alpha4, double alpha5)=0 |
| An factory to create motion models. More... | |
| virtual void | odometryUpdate (pf_t *pf, const pf_vector_t &pose, const pf_vector_t &delta)=0 |
| Update on new odometry data. More... | |
Detailed Description
An abstract motion model class.
Definition at line 33 of file motion_model.hpp.
Member Function Documentation
◆ initialize()
|
pure 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
Implemented in nav2_amcl::OmniMotionModel, and nav2_amcl::DifferentialMotionModel.
◆ odometryUpdate()
|
pure 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
Implemented in nav2_amcl::OmniMotionModel, and nav2_amcl::DifferentialMotionModel.
The documentation for this class was generated from the following file:
- nav2_amcl/include/nav2_amcl/motion_model/motion_model.hpp
