Trait MotionModel 

pub trait MotionModel {
    type State;
    type Control;

    // Required methods
    fn propagate(
        &self,
        state: &Self::State,
        control: &Self::Control,
        dt: f64,
    ) -> Self::State;
    fn jacobian_state(
        &self,
        state: &Self::State,
        control: &Self::Control,
        dt: f64,
    ) -> DMatrix<f64>;
}

Trait for vehicle/robot motion models

Required Associated Types

type State

State type

type Control

Control type

Required Methods

fn propagate( &self, state: &Self::State, control: &Self::Control, dt: f64, ) -> Self::State

Propagate state forward in time

fn jacobian_state( &self, state: &Self::State, control: &Self::Control, dt: f64, ) -> DMatrix<f64>

Compute Jacobian with respect to state (for EKF)

Implementors