imu_filter::Observation Class Reference

#include <observation.h>

Inheritance diagram for imu_filter::Observation:

List of all members.

Public Types
typedef Eigen::Matrix< double, Dimension, Dimension >	CovMat
typedef Eigen::Matrix< double, Dimension, ImuState::Dimension >	JacMat
typedef Eigen::Matrix< double, Dimension, 1 >	Vector
Public Member Functions
const Eigen::Affine3d &	body2ImuTransform () const
	Retrieve the transformation from target frame to IMU frame.
const CovMat &	covariance () const
	access to the observation covariance matrix
const JacMat &	jacobian () const
	access to the observation jacobian matrix
const Eigen::Affine3d &	lastWorld2Imu () const
	get back the last stored IMU pose estimate
	Observation ()
void	set (const Vector &v)
	set the current observation in vector form
void	setBody2ImuTransform (const Eigen::Quaterniond &q, const Eigen::Vector3d &t)
	Set the transformation from the target frame to the IMU.
void	setBody2ImuTransform (const Eigen::Affine3d &T)
	Set the transformation from the target frame to the IMU.
void	setCovariance (const CovMat &covariance)
	set the observation covariance matrix
void	setCovarianceFromStdDev (const Vector &stdDevs)
	set the diagonal of the observation covariance from std. deviations
virtual void	updateJacobian (const ImuState &state)=0
	pure virtual function, that should update the observation jacobian according to the current state
void	updateLastStateInformation (const ImuState &state)
	remember this IMU state information to create a pseudo measurement later on
const Vector &	vector () const
	get the current observation in vector form
virtual	~Observation ()
Static Public Attributes
static const size_t	Dimension = 7
Protected Member Functions
void	computeDeltaFromAbsolute (const Eigen::Affine3d &currentObservation)
void	updateObservationFromDelta ()
Protected Attributes
Eigen::Affine3d	body2ImuTransform_
Eigen::Affine3d	deltaTransform_
Eigen::Affine3d	lastBodyTransform_
Eigen::Affine3d	lastWorld2Imu_
CovMat	measCov_
JacMat	measJacobian_
Vector	observation_

---

Detailed Description

Definition at line 48 of file observation.h.

---

Member Typedef Documentation

typedef Eigen::Matrix<double, Dimension, Dimension> imu_filter::Observation::CovMat

Definition at line 53 of file observation.h.

typedef Eigen::Matrix<double, Dimension, ImuState::Dimension> imu_filter::Observation::JacMat

Definition at line 54 of file observation.h.

typedef Eigen::Matrix<double, Dimension, 1> imu_filter::Observation::Vector

Definition at line 52 of file observation.h.

---

Constructor & Destructor Documentation

imu_filter::Observation::Observation

(

)

[inline]

Definition at line 56 of file observation.h.

virtual imu_filter::Observation::~Observation

(

)

[inline, virtual]

Definition at line 67 of file observation.h.

---

Member Function Documentation

const Eigen::Affine3d& imu_filter::Observation::body2ImuTransform

(

)

const [inline]

Retrieve the transformation from target frame to IMU frame.

Definition at line 130 of file observation.h.

void imu_filter::Observation::computeDeltaFromAbsolute

(

const Eigen::Affine3d &

currentObservation

)

[inline, protected]

Definition at line 171 of file observation.h.

const CovMat& imu_filter::Observation::covariance

(

)

const [inline]

access to the observation covariance matrix

Definition at line 102 of file observation.h.

const JacMat& imu_filter::Observation::jacobian

(

)

const [inline]

access to the observation jacobian matrix

Definition at line 107 of file observation.h.

const Eigen::Affine3d& imu_filter::Observation::lastWorld2Imu

(

)

const [inline]

get back the last stored IMU pose estimate

Definition at line 148 of file observation.h.

void imu_filter::Observation::set

(

const Vector &

v

)

[inline]

set the current observation in vector form

Parameters:

v	the current observation

Definition at line 75 of file observation.h.

void imu_filter::Observation::setBody2ImuTransform	(	const Eigen::Quaterniond &	q,
		const Eigen::Vector3d &	t
	)		[inline]

Set the transformation from the target frame to the IMU.

Parameters:

q	rotation from target frame to IMU frame
t	translation from target frame to IMU frame

Definition at line 115 of file observation.h.

void imu_filter::Observation::setBody2ImuTransform

(

const Eigen::Affine3d &

T

)

[inline]

Set the transformation from the target frame to the IMU.

Parameters:

T	transformation from target frame to IMU frame

Definition at line 125 of file observation.h.

void imu_filter::Observation::setCovariance

(

const CovMat &

covariance

)

[inline]

set the observation covariance matrix

Parameters:

covariance

observation covariance

Definition at line 86 of file observation.h.

void imu_filter::Observation::setCovarianceFromStdDev

(

const Vector &

stdDevs

)

[inline]

set the diagonal of the observation covariance from std. deviations

Parameters:

stdDevs

standard deviations of the observations

Definition at line 92 of file observation.h.

virtual void imu_filter::Observation::updateJacobian

(

const ImuState &

state

)

[pure virtual]

pure virtual function, that should update the observation jacobian according to the current state

Implemented in imu_filter::VOObservation.

void imu_filter::Observation::updateLastStateInformation

(

const ImuState &

state

)

[inline]

remember this IMU state information to create a pseudo measurement later on

The orientation and position of the IMU state will be stored, in order to create a relative transformation estimate later on.

Parameters:

state

the IMU state we want to remember

Definition at line 139 of file observation.h.

void imu_filter::Observation::updateObservationFromDelta

(

)

[inline, protected]

Definition at line 177 of file observation.h.

const Vector& imu_filter::Observation::vector

(

)

const [inline]

get the current observation in vector form

Definition at line 80 of file observation.h.

---

Member Data Documentation

Eigen::Affine3d imu_filter::Observation::body2ImuTransform_ [protected]

Definition at line 160 of file observation.h.

Eigen::Affine3d imu_filter::Observation::deltaTransform_ [protected]

Definition at line 168 of file observation.h.

const size_t imu_filter::Observation::Dimension = 7 [static]

Definition at line 51 of file observation.h.

Eigen::Affine3d imu_filter::Observation::lastBodyTransform_ [protected]

Definition at line 162 of file observation.h.

Eigen::Affine3d imu_filter::Observation::lastWorld2Imu_ [protected]

Definition at line 165 of file observation.h.

CovMat imu_filter::Observation::measCov_ [protected]

Definition at line 157 of file observation.h.

JacMat imu_filter::Observation::measJacobian_ [protected]

Definition at line 158 of file observation.h.

Vector imu_filter::Observation::observation_ [protected]

Definition at line 156 of file observation.h.

---

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

• observation.h