| 29 | { |
| 30 | |
| 31 | class SensorModel |
| 32 | { |
| 33 | public: |
| 34 | virtual ~SensorModel() = default; |
| 35 | virtual double ComputeLogProb(const Particle & particle) = 0; |
| 36 | virtual double ComputeLogNormalizer() = 0; |
| 37 | virtual bool IsMeasurementAvailable(const rclcpp::Time & current_time) = 0; |
| 38 | |
| 39 | protected: |
| 40 | std::vector<double> covariance_; |
| 41 | double timeout_; |
| 42 | }; |
| 43 | } // namespace localization |
| 44 | |
| 45 |
nothing calls this directly
no outgoing calls
no test coverage detected