# opentl::models::ConstantVelocity Class Reference

Implemented class Continuous White Noise Acceleration (CWNA) motion model. More...

Inherits opentl::models::LinearARModels.

List of all members.

## Public Member Functions
| ConstantVelocity (boost::shared_ptr< opentl::core::State > stateTemplate, math::Matrix *matB=NULL, double deltaT=1.0)
| Constructor.
void | setConstraintCoeff (math::Vector &beta, math::Vector &rho)
| Set coefficients for constrained motion (one per degree of freedom).
virtual void | updateMatrices ()
| Update internal matrices (mMatA, mMatW, mMatQw) according to the real time lag.
virtual | ~ConstantVelocity ()
| Destructor.

## Detailed Description

Implemented class Continuous White Noise Acceleration (CWNA) motion model.

Author:
  Erwin Roth, erwin.roth@weihenstephan.org; Giorgio Panin, panin@in.tum.de

## Constructor & Destructor Documentation

opentl::models::ConstantVelocity::ConstantVelocity | ( | boost::shared_ptr< opentl::core::State > | stateTemplate,
|  | math::Matrix * | matB = `NULL`,
|  | double | deltaT = `1.0` |
| ) |  |  |

Constructor.

Parameters:

  | stateTemplate | The state representation this model is using.
  | matB | Optional: input matrix B
  | deltaT | Constant time lag (used if no one is provided at prediction time)

virtual opentl::models::ConstantVelocity::~ConstantVelocity | ( |  | ) | `[virtual]`

Destructor.

## Member Function Documentation

void opentl::models::ConstantVelocity::setConstraintCoeff | ( | math::Vector & | beta,
|  | math::Vector & | rho |
| ) |  |  |

Set coefficients for constrained motion (one per degree of freedom).

Parameters:

  | beta | Time constant
  | rho | Average envelope

virtual void opentl::models::ConstantVelocity::updateMatrices | ( |  | ) | `[virtual]`

Update internal matrices (mMatA, mMatW, mMatQw) according to the real time lag.

Implements opentl::models::LinearARModels.