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 deltaT=1.0)
	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 deltaT Time lag (it is needed in order to update the internal matrices).
virtual void	updateMatrices ()
	Update internal matrices (mMatA, mMatW, mMatQw) according to the real time lag.
virtual	~Brownian ()
	Destructor.

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Detailed Description

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

Author:

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

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Constructor & Destructor Documentation

opentl::models::Brownian::Brownian	(	boost::shared_ptr< opentl::core::State >	stateTemplate,
		math::Matrix *	matB = NULL,
		double	deltaT = 1.0
	)

Constructor.

Parameters:

	stateTemplate	The state representation this model is using.
	matB	Optional: input matrix B
	deltaT	Optional: (default=deltaT is dynamic).

virtual opentl::models::Brownian::~Brownian

(

)

[virtual]

Destructor.

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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 deltaT Time lag (it is needed in order to update the internal matrices).

virtual void opentl::models::Brownian::updateMatrices

(

)

[virtual]

Update internal matrices (mMatA, mMatW, mMatQw) according to the real time lag.

Implements opentl::models::LinearARModels.