Class RobotState

Defined in File RobotState.hpp

Class Documentation

class bitbots_localization::RobotState

Sample state for a particle filter that localizes the Robot.

Public Functions

RobotState()

RobotState(double x, double y, double T)

Parameters

x – Position of the robot.
y – Position of the robot.
T – Orientaion of the robot in radians.

RobotState operator*(float factor) const

RobotState &operator+=(const RobotState &other)

double getXPos() const

double getYPos() const

double getTheta() const

double getSinTheta() const

double getCosTheta() const

void setXPos(double x)

void setYPos(double y)

void setTheta(double t)

void setSinTheta(double t)

void setCosTheta(double t)

double calcDistance(const RobotState &state) const

visualization_msgs::msg::Marker renderMarker(std::string n_space, std::string frame, rclcpp::Duration lifetime, std_msgs::msg::ColorRGBA color, rclcpp::Time stamp) const

Public Members

bool is_explorer_

Public Static Functions

static void convertParticleListToEigen(const std::vector<particle_filter::Particle<RobotState>*> &particle_list, Eigen::MatrixXd &matrix, const bool ignore_explorers)

Private Members

double m_XPos

double m_YPos

double m_SinTheta

double m_CosTheta