mrs_lib
Various reusable classes, functions and utilities for use in MRS projects
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example.cpp File Reference

Example file for the RHEIV implementation. More...

#include <mrs_lib/rheiv.h>
#include <ros/ros.h>
+ Include dependency graph for example.cpp:

Namespaces

 mrs_lib
 All mrs_lib functions, classes, variables and definitions are contained in this namespace.
 

Typedefs

using mrs_lib::rheiv_t = RHEIV< n_states, n_params >
 
using mrs_lib::theta_t = rheiv_t::theta_t
 
using mrs_lib::xs_t = rheiv_t::xs_t
 
using mrs_lib::zs_t = rheiv_t::zs_t
 
using mrs_lib::P_t = rheiv_t::P_t
 
using mrs_lib::Ps_t = rheiv_t::Ps_t
 
using mrs_lib::f_z_t = rheiv_t::f_z_t
 
using mrs_lib::dzdx_t = rheiv_t::dzdx_t
 

Functions

mrs_lib::zs_t f_z (const mrs_lib::xs_t &xs)
 
int main ()
 

Variables

const int mrs_lib::n_params = 4
 

Detailed Description

Example file for the RHEIV implementation.

Author
Matouš Vrba - vrbam.nosp@m.ato@.nosp@m.fel.c.nosp@m.vut..nosp@m.cz

This example may be run after building mrs_lib by executing rosrun mrs_lib rheiv_example.

A plane surface model in the cartesian form $ a x + b y + c z + d = 0 $ will be used in this example. The parameters $ a $, $ b $, $ c $ and $ d $ are elements of the parameter vector $ \mathbf{ \theta } $.

See rheiv/example.cpp.