Contents
General Description
This package provides a template library to design different motion models making possible parametrize the type of the representations of the state, actions and time.
- For instance the state could consider dynamic variables or not. Moreover the state, actions or time could be represented with a probabilistic description following the Probabilistic Robotic Foundations. From the simplest transition function x_[t+1]=F(x_t,u,Delta t) a set of more complex functions are generated. Including: sample a trajectory, obtain the final state after a set of asynchronous action history, obtain the final state after a set of actions, etc.
template<typename StateType, typename ActionType, typename Duration = ros::Duration, typename TTime = ros::Time> class MotionModel;
Example
Non holonomic and Deterministic 2D(non probabilistic) motion model.
class DeterministicNonHolonomic2D: public MotionModel<Pose,Twist>
