Class StationaryModel

• Defined in File stationary_model.hpp

Class Documentation

class StationaryModel

A stationary motion model.

This class satisfies Beluga named requirements: MotionModel.

It ignores all odometry updates and only adds Gaussian noise to the input states.

Public Types

using control_type = std::tuple<Sophus::SE2d, Sophus::SE2d>

Current and previous odometry estimates as motion model control action.

using state_type = Sophus::SE2d

2D pose as motion model state (to match that of the particles).

Public Functions

template<class Control, typename = common_tuple_type_t<Control, control_type>>
inline auto operator()([[maybe_unused]] Control&&) const

Computes a state sampling function conditioned on a given control action.

The updated state will be centered around state with some covariance. For this model, control actions are ignored.

Template Parameters:

Control – A tuple-like container matching the model’s control_action_type.

Returns:

a callable satisfying Beluga named requirements: StateSamplingFunction.