| 28 | |
| 29 | |
| 30 | MotionModel::MotionModel(rclcpp::Node & node) |
| 31 | { |
| 32 | std::vector<double> motion_sigma = node.declare_parameter<std::vector<double>>( |
| 33 | "motion_sigmas", |
| 34 | {0.05, 0.05, 0.2, |
| 35 | 0.05, 0.05}); |
| 36 | sigmas_.x = motion_sigma[0]; |
| 37 | sigmas_.y = motion_sigma[1]; |
| 38 | sigmas_.yaw = motion_sigma[2]; |
| 39 | sigmas_.x_vel = motion_sigma[3]; |
| 40 | sigmas_.yaw_vel = motion_sigma[4]; |
| 41 | } |
| 42 | |
| 43 | void MotionModel::updateParticle( |
| 44 | Particle & particle, double dt, |
nothing calls this directly
no outgoing calls
no test coverage detected