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