vpProcessFunctor Class Reference

Public Member Functions
	vpProcessFunctor (const double &w)
vpColVector	processFunction (const vpColVector &x, const double &dt)
void	setCommands (const vpColVector &u)

Detailed Description

As the state model {x, y, } does not contain any velocity information, it does not evolve without commands. Thus, we create a functor that will save the current command to use it in the process function to project a particle in time.

Examples

pf-nonlinear-complex-example.cpp.

Definition at line 275 of file pf-nonlinear-complex-example.cpp.

Constructor & Destructor Documentation

vpProcessFunctor()

vpProcessFunctor::vpProcessFunctor ( const double &  w )

inline

Construct a new vp Process Functor object.

Parameters

[in]

w

The length of the wheelbase.

Definition at line 283 of file pf-nonlinear-complex-example.cpp.

Member Function Documentation

processFunction()

vpColVector vpProcessFunctor::processFunction ( const vpColVector &  x, const double &  dt  )

inline

Models the effect of the command on the state model.

Parameters

[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.

Definition at line 294 of file pf-nonlinear-complex-example.cpp.

setCommands()

void vpProcessFunctor::setCommands ( const vpColVector &  u )

inline

Set the Commands object.

Parameters

[in]

u

Set the commands of the current timestep.

Definition at line 307 of file pf-nonlinear-complex-example.cpp.