model

SLAM.RGBDFastSLAMReset

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
constant	`dimension`	`Integer`	`= RGBDKeyframes.dimension`
constant	`currentDimension`	`Integer`	`= RGBDLocalizationFrame.currentDimension`
input	`generation`	`Integer`	`= 1`
input	`sourceRevision`	`Integer`	`= 1`
input	`vocabularyVersion`	`Integer`	`= 1`
input	`worldFrame`	`Real`	`= 0`
input	`position`	`Real`	`[dimension] = zeros(dimension)`
input	`velocity`	`Real`	`[dimension] = zeros(dimension)`
input	`rotation`	`Real`	`[dimension,dimension] = identity(dimension)`
input	`accelBias`	`Real`	`[dimension] = zeros(dimension)`
input	`gyroBias`	`Real`	`[dimension] = zeros(dimension)`
input	`covariance`	`Real`	`[currentDimension,currentDimension] = diagonal({0.25,0.25,0.25, 0.04,0.04,0.04,0.01,0.01,0.01,0.0004,0.0004,0.0004,0.000025,0.000025,0.000025})`
output	`next`	`RGBDGraphProcessing.State`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDFastSLAMReset
  import RGBDGraphProcessing = SLAM.PoseGraph.RGBDGraphProcessing;
  import RGBDKeyframes = SLAM.LoopClosure.RGBDKeyframes;
  import RGBDLocalizationCatalog = SLAM.Localization.RGBDLocalizationCatalog;
  import RGBDLocalizationFrame = SLAM.Localization.RGBDLocalizationFrame;

  constant Integer dimension = RGBDKeyframes.dimension;
  constant Integer currentDimension = RGBDLocalizationFrame.currentDimension;
  input Integer generation = 1;
  input Integer sourceRevision = 1;
  input Integer vocabularyVersion = 1;
  input Real worldFrame = 0;
  input Real position[dimension] = zeros(dimension);
  input Real velocity[dimension] = zeros(dimension);
  input Real rotation[dimension,dimension] = identity(dimension);
  input Real accelBias[dimension] = zeros(dimension);
  input Real gyroBias[dimension] = zeros(dimension);
  input Real covariance[currentDimension,currentDimension] = diagonal({0.25,0.25,0.25,
    0.04,0.04,0.04,0.01,0.01,0.01,0.0004,0.0004,0.0004,0.000025,0.000025,0.000025});
  output RGBDGraphProcessing.State next;
equation
  next = RGBDGraphProcessing.Empty(RGBDLocalizationCatalog.Empty(
    RGBDLocalizationCatalog.EmptyEstimator(position,velocity,rotation,accelBias,gyroBias,covariance),
    generation,sourceRevision,vocabularyVersion,worldFrame));
end RGBDFastSLAMReset;