opentl::models::Brownian Class Reference

Implemented class Continuous White Noise Acceleration (CWNA) motion model. More...

Inherits opentl::models::LinearARModels.

List of all members.

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.


Detailed Description

Implemented class Continuous White Noise Acceleration (CWNA) motion model.

Author:
Erwin Roth, erwin.roth@weihenstephan.org; Giorgio Panin, panin@in.tum.de

Constructor & Destructor Documentation

opentl::models::Brownian::Brownian ( boost::shared_ptr< opentl::core::State stateTemplate,
math::Matrix matB = NULL,
double  fixedDeltaT = 0.0 
)

Constructor.

Parameters:
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.


Member Function Documentation

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.


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