Public Member Functions
	__init__ (self, float w)
ColVector	compute_motion (self, ColVector u, ColVector x, float dt)
ColVector	move (self, ColVector u, ColVector x, float dt)

Protected Attributes
	_w = w

Detailed Description

Class that approximates a 4-wheel robot unp.sing a bicycle model.

Definition at line 262 of file ukf-nonlinear-complex-example.py.

Constructor & Destructor Documentation

◆ init()

ukf-nonlinear-complex-example.vpBicycleModel.__init__	(		self,
		float	w )

Construct a new vpBicycleModel object.

:param w:The length of the wheelbase.

Definition at line 266 of file ukf-nonlinear-complex-example.py.

Member Function Documentation

◆ compute_motion()

ColVector ukf-nonlinear-complex-example.vpBicycleModel.compute_motion	(		self,
		ColVector	u,
		ColVector	x,
		float	dt )

Models the effect of the command on the state model.

:param u: The commands. u[0] = velocity ; u[1] = steeringAngle .
:param x: The state model. x[0] = x ; x[1] = y ; x[2] = heading
:param dt: The period.
:return ColVector: The state model after applying the command.

Definition at line 274 of file ukf-nonlinear-complex-example.py.

References _w.

Referenced by move().

◆ move()

ColVector ukf-nonlinear-complex-example.vpBicycleModel.move	(		self,
		ColVector	u,
		ColVector	x,
		float	dt )

Models the effect of the command on the state model.

:param u: The commands. u[0] = velocity ; u[1] = steeringAngle .
:param x: The state model. x[0] = x ; x[1] = y ; x[2] = heading
:param dt: The period.
:return ColVector: The state model after applying the command.

Definition at line 311 of file ukf-nonlinear-complex-example.py.

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