| 33 | { |
| 34 | |
| 35 | class MotionModel |
| 36 | { |
| 37 | public: |
| 38 | explicit MotionModel(rclcpp::Node & node); |
| 39 | |
| 40 | void updateParticle(Particle & particle, double dt, geometry_msgs::msg::Twist::SharedPtr cmd_msg); |
| 41 | void updateParticles( |
| 42 | std::vector<Particle> & particles, |
| 43 | geometry_msgs::msg::Twist::SharedPtr cmd_msg, |
| 44 | rclcpp::Time current_time); |
| 45 | bool getEnabled(const rclcpp::Time & time); |
| 46 | |
| 47 | private: |
| 48 | Particle sigmas_; |
| 49 | rclcpp::Time last_message_time_; |
| 50 | GaussianRandomGenerator gaussian_noise_; |
| 51 | }; |
| 52 | |
| 53 | } // namespace localization |
| 54 |
nothing calls this directly
no outgoing calls
no test coverage detected