Base class

Base class#

#include "navground/sim/state_estimation.h"
struct StateEstimation : public virtual navground::core::HasRegister<StateEstimation>#

This class describe a generic state estimation that should update the environment state used by the agent navground::core::Behavior.

As the environment state is specialized by sub-classes of navground::core::Behavior like navground::core::GeometricState, concrete sub-classes have to target one or more of them.

In particular, the agent should use a state estimation compatible with it’s state representation.

StateEstimation holds a pointer to the World containing the agent, which it queries to get the relevant entities (located nearby the agent).

Subclassed by navground::sim::BoundedStateEstimation, navground::sim::Sensor

Public Functions

inline virtual void update(Agent *agent, World *world, EnvironmentState *state)#

Updates an environment state with respect to a given agent.

Parameters:

  • agent – The agent owning the state estimation

  • world – [in] The world that the agent is part of

  • state – The environment state to be updated

Protected Functions

void update(Agent *agent, World *world)#

Updates the state of a given agent navground::core::Behavior.

Parameters:

  • agent – The agent owning the state estimation

  • world – [in] The world the agent is part of

inline virtual void prepare(Agent *agent, World *world)#

Setup the state estimation. Called before starting a simulation.

Parameters:

  • agent – The agent owning the state estimation

  • world – [in] The world the agent is part of