estimation::OdomEstimation Class Reference

#include <odom_estimation.h>

Public Member Functions
void	addMeasurement (const tf::StampedTransform &meas, const MatrixWrapper::SymmetricMatrix &covar)
void	addMeasurement (const tf::StampedTransform &meas)
void	getEstimate (geometry_msgs::PoseWithCovarianceStamped &estimate)
void	getEstimate (ros::Time time, tf::StampedTransform &estiamte)
void	getEstimate (ros::Time time, tf::Transform &estiamte)
void	getEstimate (MatrixWrapper::ColumnVector &estimate)
void	initialize (const tf::Transform &prior, const ros::Time &time)
bool	isInitialized ()
	OdomEstimation ()
	constructor
bool	update (bool odom_active, bool imu_active, bool vo_active, const ros::Time &filter_time, bool &diagnostics_res)
virtual	~OdomEstimation ()
	destructor
Private Member Functions
void	angleOverflowCorrect (double &a, double ref)
	correct for angle overflow
void	decomposeTransform (const tf::Transform &trans, double &x, double &y, double &z, double &Rx, double &Ry, double &Rz)
void	decomposeTransform (const tf::StampedTransform &trans, double &x, double &y, double &z, double &Rx, double &Ry, double &Rz)
Private Attributes
double	diagnostics_imu_rot_rel_
double	diagnostics_odom_rot_rel_
BFL::ExtendedKalmanFilter *	filter_
tf::Transform	filter_estimate_old_
MatrixWrapper::ColumnVector	filter_estimate_old_vec_
bool	filter_initialized_
ros::Time	filter_time_old_
MatrixWrapper::SymmetricMatrix	imu_covariance_
bool	imu_initialized_
tf::StampedTransform	imu_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	imu_meas_model_
tf::StampedTransform	imu_meas_old_
BFL::LinearAnalyticConditionalGaussian *	imu_meas_pdf_
MatrixWrapper::SymmetricMatrix	odom_covariance_
bool	odom_initialized_
tf::StampedTransform	odom_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	odom_meas_model_
tf::StampedTransform	odom_meas_old_
BFL::LinearAnalyticConditionalGaussian *	odom_meas_pdf_
BFL::Gaussian *	prior_
BFL::AnalyticSystemModelGaussianUncertainty *	sys_model_
BFL::NonLinearAnalyticConditionalGaussianOdo *	sys_pdf_
tf::Transformer	transformer_
MatrixWrapper::ColumnVector	vel_desi_
MatrixWrapper::SymmetricMatrix	vo_covariance_
bool	vo_initialized_
tf::StampedTransform	vo_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	vo_meas_model_
tf::StampedTransform	vo_meas_old_
BFL::LinearAnalyticConditionalGaussian *	vo_meas_pdf_

Detailed Description

Definition at line 49 of file odom_estimation.h.

Constructor & Destructor Documentation

estimation::OdomEstimation::OdomEstimation ( )

constructor

Definition at line 49 of file odom_estimation.cpp.

estimation::OdomEstimation::~OdomEstimation ( ) [virtual]

destructor

Definition at line 99 of file odom_estimation.cpp.

Member Function Documentation

void estimation::OdomEstimation::addMeasurement	(	const tf::StampedTransform &	meas,
		const MatrixWrapper::SymmetricMatrix &	covar
	)

Add a sensor measurement to the measurement buffer

Parameters:

	meas	the measurement to add
	covar	the 6x6 covariance matrix of this measurement, as defined in the PoseWithCovariance message

Definition at line 290 of file odom_estimation.cpp.

void estimation::OdomEstimation::addMeasurement ( const tf::StampedTransform & meas )

Add a sensor measurement to the measurement buffer

Parameters:

meas

the measurement to add

Definition at line 280 of file odom_estimation.cpp.

void estimation::OdomEstimation::angleOverflowCorrect	(	double &	a,
		double	ref
	)			`[private]`

correct for angle overflow

Definition at line 360 of file odom_estimation.cpp.

void estimation::OdomEstimation::decomposeTransform	(	const tf::Transform &	trans,
		double &	x,
		double &	y,
		double &	z,
		double &	Rx,
		double &	Ry,
		double &	Rz
	)			`[private]`

Definition at line 376 of file odom_estimation.cpp.

void estimation::OdomEstimation::decomposeTransform	(	const tf::StampedTransform &	trans,
		double &	x,
		double &	y,
		double &	z,
		double &	Rx,
		double &	Ry,
		double &	Rz
	)			`[private]`

Definition at line 367 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate ( geometry_msgs::PoseWithCovarianceStamped & estimate )

get the filter posterior

Parameters:

estimate

the filter posterior as a pose with covariance

Definition at line 337 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate	(	ros::Time	time,
		tf::StampedTransform &	estiamte
	)

get the filter posterior

Parameters:

	time	the time of the filter posterior
	estimate	the filter posterior as a stamped tf transform

Definition at line 327 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate	(	ros::Time	time,
		tf::Transform &	estiamte
	)

get the filter posterior

Parameters:

	time	the time of the filter posterior
	estimate	the filter posterior as a tf transform

Definition at line 315 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate ( MatrixWrapper::ColumnVector & estimate )

get the filter posterior

Parameters:

estimate

the filter posterior as a columnvector

void estimation::OdomEstimation::initialize	(	const tf::Transform &	prior,
		const ros::Time &	time
	)

initialize the extended Kalman filter

Parameters:

	prior	the prior robot pose
	time	the initial time of the ekf

Definition at line 114 of file odom_estimation.cpp.

bool estimation::OdomEstimation::isInitialized ( ) [inline]

check if the filter is initialized returns true if the ekf has been initialized already

Definition at line 74 of file odom_estimation.h.

bool estimation::OdomEstimation::update	(	bool	odom_active,
		bool	imu_active,
		bool	vo_active,
		const ros::Time &	filter_time,
		bool &	diagnostics_res
	)

update the extended Kalman filter

Parameters:

	odom_active	specifies if the odometry sensor is active or not
	imu_active	specifies if the imu sensor is active or not
	vo_active	specifies if the vo sensor is active or not
	filter_time	update the ekf up to this time
	diagnostics_res	returns false if the diagnostics found that the sensor measurements are inconsistent returns true on successfull update

Definition at line 144 of file odom_estimation.cpp.

Member Data Documentation

double estimation::OdomEstimation::diagnostics_imu_rot_rel_ [private]

Definition at line 141 of file odom_estimation.h.

double estimation::OdomEstimation::diagnostics_odom_rot_rel_ [private]

Definition at line 141 of file odom_estimation.h.

BFL::ExtendedKalmanFilter* estimation::OdomEstimation::filter_ [private]

Definition at line 130 of file odom_estimation.h.

tf::Transform estimation::OdomEstimation::filter_estimate_old_ [private]

Definition at line 135 of file odom_estimation.h.

MatrixWrapper::ColumnVector estimation::OdomEstimation::filter_estimate_old_vec_ [private]

Definition at line 134 of file odom_estimation.h.

bool estimation::OdomEstimation::filter_initialized_ [private]

Definition at line 138 of file odom_estimation.h.

ros::Time estimation::OdomEstimation::filter_time_old_ [private]

Definition at line 137 of file odom_estimation.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::imu_covariance_ [private]

Definition at line 131 of file odom_estimation.h.

bool estimation::OdomEstimation::imu_initialized_ [private]

Definition at line 138 of file odom_estimation.h.

tf::StampedTransform estimation::OdomEstimation::imu_meas_ [private]

Definition at line 136 of file odom_estimation.h.

BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::imu_meas_model_ [private]

Definition at line 126 of file odom_estimation.h.

tf::StampedTransform estimation::OdomEstimation::imu_meas_old_ [private]

Definition at line 136 of file odom_estimation.h.

BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::imu_meas_pdf_ [private]

Definition at line 125 of file odom_estimation.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::odom_covariance_ [private]

Definition at line 131 of file odom_estimation.h.

bool estimation::OdomEstimation::odom_initialized_ [private]

Definition at line 138 of file odom_estimation.h.

tf::StampedTransform estimation::OdomEstimation::odom_meas_ [private]

Definition at line 136 of file odom_estimation.h.

BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::odom_meas_model_ [private]

Definition at line 124 of file odom_estimation.h.

tf::StampedTransform estimation::OdomEstimation::odom_meas_old_ [private]

Definition at line 136 of file odom_estimation.h.

BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::odom_meas_pdf_ [private]

Definition at line 123 of file odom_estimation.h.

BFL::Gaussian* estimation::OdomEstimation::prior_ [private]

Definition at line 129 of file odom_estimation.h.

BFL::AnalyticSystemModelGaussianUncertainty* estimation::OdomEstimation::sys_model_ [private]

Definition at line 121 of file odom_estimation.h.

BFL::NonLinearAnalyticConditionalGaussianOdo* estimation::OdomEstimation::sys_pdf_ [private]

Definition at line 122 of file odom_estimation.h.

tf::Transformer estimation::OdomEstimation::transformer_ [private]

Definition at line 144 of file odom_estimation.h.

MatrixWrapper::ColumnVector estimation::OdomEstimation::vel_desi_ [private]

Definition at line 134 of file odom_estimation.h.

MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::vo_covariance_ [private]

Definition at line 131 of file odom_estimation.h.

bool estimation::OdomEstimation::vo_initialized_ [private]

Definition at line 138 of file odom_estimation.h.

tf::StampedTransform estimation::OdomEstimation::vo_meas_ [private]

Definition at line 136 of file odom_estimation.h.

BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::vo_meas_model_ [private]

Definition at line 128 of file odom_estimation.h.

tf::StampedTransform estimation::OdomEstimation::vo_meas_old_ [private]

Definition at line 136 of file odom_estimation.h.

BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::vo_meas_pdf_ [private]

Definition at line 127 of file odom_estimation.h.

The documentation for this class was generated from the following files:

estimation::OdomEstimation Class Reference

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation