vpBicycleModel Class Reference

Public Member Functions
	vpBicycleModel (const double &w)
vpColVector	computeMotion (const vpColVector &u, const vpColVector &x, const double &dt)
vpColVector	move (const vpColVector &u, const vpColVector &x, const double &dt)
	vpBicycleModel (const double &w)
vpColVector	computeMotion (const vpColVector &u, const vpColVector &x, const double &dt)
vpColVector	move (const vpColVector &u, const vpColVector &x, const double &dt)

Detailed Description

Class that approximates a 4-wheel robot using a bicycle model.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 305 of file ukf-nonlinear-complex-example.cpp.

Constructor & Destructor Documentation

vpBicycleModel() [1/2]

vpBicycleModel::vpBicycleModel ( const double & w )

inline

Construct a new vpBicycleModel object.

Parameters

[in]

w

The length of the wheelbase.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 313 of file ukf-nonlinear-complex-example.cpp.

vpBicycleModel() [2/2]

vpBicycleModel::vpBicycleModel ( const double & w )

inline

Construct a new vpBicycleModel object.

Parameters

[in]

w

The length of the wheelbase.

Definition at line 327 of file pf-nonlinear-complex-example.cpp.

Member Function Documentation

computeMotion() [1/2]

vpColVector vpBicycleModel::computeMotion ( const vpColVector & u, const vpColVector & x, const double & dt )

inline

Models the effect of the command on the state model.

Parameters

[in]	u	The commands. u[0] = velocity ; u[1] = steeringAngle .
[in]	x	The state model. x[0] = x ; x[1] = y ; x[2] = heading
[in]	dt	The period.

Returns

vpColVector The state model after applying the command.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 325 of file ukf-nonlinear-complex-example.cpp.

Referenced by move().

computeMotion() [2/2]

vpColVector vpBicycleModel::computeMotion ( const vpColVector & u, const vpColVector & x, const double & dt )

inline

Models the effect of the command on the state model.

Parameters

[in]	u	The commands. u[0] = velocity ; u[1] = steeringAngle .
[in]	x	The state model. x[0] = x ; x[1] = y ; x[2] = heading
[in]	dt	The period.

Returns

vpColVector The state model after applying the command.

Definition at line 339 of file pf-nonlinear-complex-example.cpp.

move() [1/2]

vpColVector vpBicycleModel::move ( const vpColVector & u, const vpColVector & x, const double & dt )

inline

Move the robot according to its current position and the commands.

Parameters

[in]	u	The commands. u[0] = velocity ; u[1] = steeringAngle .
[in]	x	The state model. x[0] = x ; x[1] = y ; x[2] = heading
[in]	dt	The period.

Returns

vpColVector The state model after applying the command.

Examples

pf-nonlinear-complex-example.cpp, and ukf-nonlinear-complex-example.cpp.

Definition at line 365 of file ukf-nonlinear-complex-example.cpp.

References computeMotion().

move() [2/2]

vpColVector vpBicycleModel::move ( const vpColVector & u, const vpColVector & x, const double & dt )

inline

Move the robot according to its current position and the commands.

Parameters

[in]	u	The commands. u[0] = velocity ; u[1] = steeringAngle .
[in]	x	The state model. x[0] = x ; x[1] = y ; x[2] = heading
[in]	dt	The period.

Returns

vpColVector The state model after applying the command.

Definition at line 353 of file pf-nonlinear-complex-example.cpp.

References computeMotion().