ukf-nonlinear-complex-example.LandmarkMeasurements Class Reference

Public Member Functions
	__init__ (self, float x, float y, float range_std, float rel_angle_std)
ColVector	state_to_measurement (self, ColVector chi)
ColVector	measure_gt (self, ColVector pos)
ColVector	measure_with_noise (self, ColVector pos)

Protected Attributes
	_x = x
	_y = y
	_range_std = range_std
	_rel_angle_std = rel_angle_std

Detailed Description

Class that permits to convert the position + heading of the 4-wheel
robot into measurements from a landmark.

Definition at line 325 of file ukf-nonlinear-complex-example.py.

Constructor & Destructor Documentation

__init__()

ukf-nonlinear-complex-example.LandmarkMeasurements.__init__	(		self,
		float	x,
		float	y,
		float	range_std,
		float	rel_angle_std )

Construct a new LandmarkMeasurements object.

:param x: The position along the x-axis of the landmark.
:param y: The position along the y-axis of the landmark.
:param range_std: The standard deviation of the range measurements.
:param rel_angle_std: The standard deviation of the relative angle measurements.

Definition at line 330 of file ukf-nonlinear-complex-example.py.

Member Function Documentation

measure_gt()

ColVector ukf-nonlinear-complex-example.LandmarkMeasurements.measure_gt	(		self,
		ColVector	pos )

Perfect measurement of the range and relative orientation of the robot
located at pos.

:param pos: The actual position of the robot (pos[0]: x, pos[1]: y, pos[2] = heading.
:return ColVector: [0] the range [1] the relative orientation of the robot.

Definition at line 357 of file ukf-nonlinear-complex-example.py.

References _x, _y, and ukf-nonlinear-complex-example.normalize_angle().

Referenced by measure_with_noise(), and ukf-nonlinear-example.vpRadarStation.measure_with_noise().

measure_with_noise()

ColVector ukf-nonlinear-complex-example.LandmarkMeasurements.measure_with_noise	(		self,
		ColVector	pos )

Noisy measurement of the range and relative orientation that
correspond to pos.

:param pos: The actual position of the robot (pos[0]: x ; pos[1] = y ; pos[2] = heading).
:return ColVector: [0] the range [1] the relative orientation.

Definition at line 372 of file ukf-nonlinear-complex-example.py.

References _range_std, _rel_angle_std, measure_gt(), and ukf-nonlinear-complex-example.normalize_angle().

state_to_measurement()

ColVector ukf-nonlinear-complex-example.LandmarkMeasurements.state_to_measurement	(		self,
		ColVector	chi )

Convert the prior of the UKF into the measurement space.

:param chi: The prior.
:return ColVector: The prior expressed in the measurement space.

Definition at line 345 of file ukf-nonlinear-complex-example.py.

References _x, _y, and ukf-nonlinear-complex-example.normalize_angle().

Member Data Documentation

_range_std

ukf-nonlinear-complex-example.LandmarkMeasurements._range_std = range_std

protected

Definition at line 341 of file ukf-nonlinear-complex-example.py.

Referenced by measure_with_noise().

_rel_angle_std

ukf-nonlinear-complex-example.LandmarkMeasurements._rel_angle_std = rel_angle_std

protected

Definition at line 342 of file ukf-nonlinear-complex-example.py.

Referenced by measure_with_noise().

_x

ukf-nonlinear-complex-example.LandmarkMeasurements._x = x

protected

Definition at line 339 of file ukf-nonlinear-complex-example.py.

Referenced by measure_gt(), ukf-nonlinear-example.vpRadarStation.measure_gt(), state_to_measurement(), and ukf-nonlinear-example.vpRadarStation.state_to_measurement().

_y

ukf-nonlinear-complex-example.LandmarkMeasurements._y = y

protected

Definition at line 340 of file ukf-nonlinear-complex-example.py.

Referenced by measure_gt(), ukf-nonlinear-example.vpRadarStation.measure_gt(), state_to_measurement(), and ukf-nonlinear-example.vpRadarStation.state_to_measurement().