navlie.lib.models

Classes

AbsolutePosition(R)

World-frame, or "absolute" position measurement.

AbsoluteVelocity(R)

World-frame, or "absolute" velocity measurement.

Altitude(R[, minimum, bias])

A model that returns the z component of a position vector.

BodyFrameVelocity(Q)

The body-frame velocity process model assumes that the input contains both translational and angular velocity measurements, both relative to a local reference frame, but resolved in the robot body frame.

CameraProjection(pose_state_id, ...)

Measurement model describing the projection of a landmark into a camera.

DoubleIntegrator(Q)

The double-integrator process model is a second-order point kinematic model given in continuous time by

DoubleIntegratorWithBias(Q)

The double-integrator process model, but with an additional bias on the input.

GlobalPosition(R)

This class is deprecated.

Gravitometer(R[, gravity_vector])

Gravitometer model of the form

InvariantMeasurement(meas[, direction, model])

Given a Measurement object, the class will construct a left- or right-invariant innovation ready to be fused into a state estimator.

InvariantPointRelativePosition(y, model)

LinearMeasurement(C, R)

A generic linear measurement model of the form

Magnetometer(R[, magnetic_vector])

Magnetometer model of the form

OneDimensionalPositionVelocityRange(R)

PointRelativePosition(landmark_position, R)

Measurement model describing the position of a known landmark relative to the robot, resolved in the body frame.

PointRelativePositionSLAM(pose_state_id, ...)

Measurement model describing the position of an unknown landmark relative to the robot, resolved in the body frame.

RangePointToAnchor(anchor_position, R)

Range measurement from a point state to an anchor (which is also another point).

RangePoseToAnchor(anchor_position, ...)

Range measurement from a pose state to an anchor.

RangePoseToPose(tag_body_position1, ...)

Range model given two absolute poses of rigid bodies, each containing a ranging tag.

RangeRelativePose(tag_body_position, ...)

Range model given a pose of another body relative to current pose.

RelativeBodyFrameVelocity(Q1, Q2)

The relative body-frame velocity process model is of the form

SingleIntegrator(Q)

The single-integrator process model is a process model of the form

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