Inherits opentl::models::LinearARModels.
Public Member Functions | |
Brownian (boost::shared_ptr< opentl::core::State > stateTemplate, math::Matrix *matB=NULL, double fixedDeltaT=0.0) | |
Constructor. | |
void | setConstraintCoeff (math::Vector &coeff) |
Set a constraint coefficient (one per degree of freedom), so that motion is constrained around the average pose coeff Input coefficient; coeff = 1: unconstrained motion; coeff < 1 = constrained motion. | |
virtual void | updateMatrices () |
Update internal matrices (mMatA, mMatW, mMatQw) using the internal parameter mDeltaT. | |
virtual | ~Brownian () |
Destructor. |
opentl::models::Brownian::Brownian | ( | boost::shared_ptr< opentl::core::State > | stateTemplate, | |
math::Matrix * | matB = NULL , |
|||
double | fixedDeltaT = 0.0 | |||
) |
Constructor.
stateTemplate | The state representation this model is using. | |
matB | Optional: input matrix B | |
fixedDeltaT | Optional: (default=deltaT is dynamic). |
virtual opentl::models::Brownian::~Brownian | ( | ) | [virtual] |
Destructor.
void opentl::models::Brownian::setConstraintCoeff | ( | math::Vector & | coeff | ) |
Set a constraint coefficient (one per degree of freedom), so that motion is constrained around the average pose coeff Input coefficient; coeff = 1: unconstrained motion; coeff < 1 = constrained motion.
virtual void opentl::models::Brownian::updateMatrices | ( | ) | [virtual] |
Update internal matrices (mMatA, mMatW, mMatQw) using the internal parameter mDeltaT.
Implements opentl::models::LinearARModels.