ukf-nonlinear-complex-example.LandmarksGrid Class Reference

Public Member Functions
	__init__ (self, List[LandmarkMeasurements] landmarks)
ColVector	state_to_measurement (self, ColVector chi)
ColVector	measure_gt (self, ColVector pos)
ColVector	measure_with_noise (self, ColVector pos)

Protected Attributes
	_landmarks = landmarks

Detailed Description

Class that represent a grid of landmarks that measure the distance and
relative orientation of the 4-wheel robot.

Definition at line 387 of file ukf-nonlinear-complex-example.py.

Constructor & Destructor Documentation

__init__()

ukf-nonlinear-complex-example.LandmarksGrid.__init__	(		self,
		List[LandmarkMeasurements]	landmarks )

Construct a new LandmarksGrid object.

:param landmarks: The list of landmarks forming the grid.

Definition at line 392 of file ukf-nonlinear-complex-example.py.

Member Function Documentation

measure_gt()

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

Perfect measurement from each landmark 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: n x ([0] the range [1] the relative orientation of the robot), where
n is the number of landmarks.

Definition at line 415 of file ukf-nonlinear-complex-example.py.

References _landmarks, and measure_gt().

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

measure_with_noise()

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

Noisy measurement from each landmark 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: n x ([0] the range [1] the relative orientation of the robot), where
n is the number of landmarks.

Definition at line 432 of file ukf-nonlinear-complex-example.py.

References _landmarks, and measure_with_noise().

Referenced by measure_with_noise().

state_to_measurement()

ColVector ukf-nonlinear-complex-example.LandmarksGrid.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 400 of file ukf-nonlinear-complex-example.py.

References _landmarks, and state_to_measurement().

Referenced by state_to_measurement().

Member Data Documentation

_landmarks

ukf-nonlinear-complex-example.LandmarksGrid._landmarks = landmarks

protected

Definition at line 398 of file ukf-nonlinear-complex-example.py.

Referenced by measure_gt(), measure_with_noise(), and state_to_measurement().