Gazebo Math

API Reference

7.4.0
gz/math/GaussMarkovProcess.hh
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1/*
2 * Copyright (C) 2020 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_MATH_GAUSSMARKOVPROCESS_HH_
18#define GZ_MATH_GAUSSMARKOVPROCESS_HH_
19
20#include <chrono>
21#include <gz/math/Export.hh>
22#include <gz/math/config.hh>
23#include <gz/utils/ImplPtr.hh>
24
25namespace gz
26{
27 namespace math
28 {
29 // Use a steady clock
31
32 // Inline bracket to help doxygen filtering.
33 inline namespace GZ_MATH_VERSION_NAMESPACE {
46 class GZ_MATH_VISIBLE GaussMarkovProcess
47 {
48 // Default constructor. This sets all the parameters to zero.
50
60 public: GaussMarkovProcess(double _start, double _theta, double _mu,
61 double _sigma);
62
69 public: void Set(double _start, double _theta, double _mu, double _sigma);
70
74 public: double Start() const;
75
78 public: double Value() const;
79
83 public: double Theta() const;
84
88 public: double Mu() const;
89
93 public: double Sigma() const;
94
97 public: void Reset();
98
127 public: double Update(const clock::duration &_dt);
128
129 public: double Update(double _dt);
130
132 GZ_UTILS_IMPL_PTR(dataPtr)
133 };
134 }
135 }
136}
137#endif