dymoesco.dynamics.dynamic_model.DiscreteDynamicModel

class dymoesco.dynamics.dynamic_model.DiscreteDynamicModel(dt, u_std=0, y_std=0)

Bases: abc.ABC

__init__(dt, u_std=0, y_std=0)

Initialize self. See help(type(self)) for accurate signature.

Methods

__init__(dt[, u_std, y_std])	Initialize self.
f(x, u)
g(x)
make_EKF(Q, R)	This creates an EKF using the model’s _f and _g functions.

make_EKF(Q, R)

This creates an EKF using the model’s _f and _g functions. Sometimes we might need the EKF to have a slightly different _g function than the model (for eg. the diffdrive range/bearing obs). In that case, use EKF direction.