Gazebo Math

API Reference

7.5.1
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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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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 
25 namespace gz::math
26 {
27  // Use a steady clock
29 
30  // Inline bracket to help doxygen filtering.
31  inline namespace GZ_MATH_VERSION_NAMESPACE {
44  class GZ_MATH_VISIBLE GaussMarkovProcess
45  {
46  // Default constructor. This sets all the parameters to zero.
47  public: GaussMarkovProcess();
48 
58  public: GaussMarkovProcess(double _start, double _theta, double _mu,
59  double _sigma);
60 
67  public: void Set(double _start, double _theta, double _mu, double _sigma);
68 
72  public: double Start() const;
73 
76  public: double Value() const;
77 
81  public: double Theta() const;
82 
86  public: double Mu() const;
87 
91  public: double Sigma() const;
92 
95  public: void Reset();
96 
125  public: double Update(const clock::duration &_dt);
126 
127  public: double Update(double _dt);
128 
130  GZ_UTILS_IMPL_PTR(dataPtr)
131  };
132  } // namespace GZ_MATH_VERSION_NAMESPACE
133 } // namespace gz::math
134 #endif // GZ_MATH_GAUSSMARKOVPROCESS_HH_