Public Member Functions
def	__init__
def	addLandmark
def	applyUpdate
def	computeA
def	computeCandidate
def	computeQ
def	computeW
def	createPoseMeasures
def	f
def	getConfig
def	getStateVector
def	getTF
def	imuInput
def	initEkf
def	landmarkH
def	landmarkH2
def	landmarkUpdate
def	mahalanobisDistance
def	makePrediction
def	poseUpdate
def	prediction
def	publishData
def	searchForLandmarkUpdates
def	setLandmark
def	setPosition
def	takeCovariance
def	updatePrediction
def	velocityH
def	velocityUpdate
Public Attributes
	candidate_landmarks
	covariance_marker
	filter_updates
	imu
	is_ekf_init
	is_imu_init
	landmark_last_update
	landmark_update_topics
	landmark_values
	last_prediction
	listener
	lock
	mapped_lamdmarks
	name
	number_of_landmarks
	odom
	P
	p_var
	pub_landmarks
	pub_map
	pub_odom
	Q
	robot_frame_name
	set_landmark
	set_position
	tf_cache
	world_frame_name
	x
Private Attributes
	_P_
	_x_

Detailed Description

Definition at line 32 of file pose_ekf_slam.py.

Constructor & Destructor Documentation

def pose_ekf_slam.PoseEkfSlam.__init__	(	self,
		name,
		p_var,
		q_var
	)

Definition at line 33 of file pose_ekf_slam.py.

Member Function Documentation

def pose_ekf_slam.PoseEkfSlam.addLandmark	(	self,
		x,
		y,
		z,
		measured_covariance
	)

Definition at line 908 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.applyUpdate	(	self,
		z,
		r,
		h,
		v,
		d
	)

Definition at line 525 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.computeA	(	self,
		u,
		t
	)

A is the jacobian matrix of f(x)

Definition at line 744 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.computeCandidate	(	self,
		candidates
	)

Definition at line 509 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.computeQ	(	self,
		q_var
	)

Definition at line 796 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.computeW	(	self,
		u,
		t
	)

The noise in the system is a term added to the acceleration:
    e.g. x[0] = x1 + cos(pitch)*cos(yaw)*(vx1*t +  Eax) *t^2/2)-..  
    then, dEax/dt of x[0] = cos(pitch)*cos(yaw)*t^2/2

Definition at line 767 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.createPoseMeasures	(	self,
		pose,
		covariance
	)

Definition at line 801 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.f	(	self,
		x_1,
		u,
		t
	)

The model takes as state 3D position (x, y, z) and linear 
    velocity (vx, vy, vz). The input is the orientation 
    (roll, pitch yaw) and the linear accelerations (ax, ay, az).

Definition at line 717 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.getConfig ( self )

Definition at line 971 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.getStateVector ( self )

Definition at line 967 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.getTF	(	self,
		origin,
		destination,
		stamp
	)

Definition at line 487 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.imuInput	(	self,
		data
	)

Definition at line 135 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.initEkf	(	self,
		position
	)

Definition at line 872 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.landmarkH	(	self,
		landmark_id
	)

Definition at line 850 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.landmarkH2	(	self,
		landmark_id,
		rot
	)

Definition at line 834 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.landmarkUpdate	(	self,
		landmark_msg,
		topic_name
	)

landmark_msg is a geometry_msgs/PoseWithCovariance msg wrt 
objects frame. Then, position is (0, 0, 0) and orientation is 
(0, 0, 0, 0,). It is necessary to check its TF to know the object
position wrt the vehicle

Definition at line 362 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.mahalanobisDistance	(	self,
		z,
		h,
		r
	)

Definition at line 985 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.makePrediction	(	self,
		now
	)

Definition at line 561 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.poseUpdate	(	self,
		pose_msg
	)

pose_msg is a geometry_msgs/PoseWithCovarianceStamped msg

Definition at line 222 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.prediction	(	self,
		u,
		t
	)

Definition at line 950 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.publishData	(	self,
		now
	)

Definition at line 593 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.searchForLandmarkUpdates	(	self,
		event
	)

Definition at line 96 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.setLandmark	(	self,
		req
	)

Definition at line 117 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.setPosition	(	self,
		req
	)

Definition at line 108 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.takeCovariance	(	self,
		covariance
	)

Definition at line 867 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.updatePrediction ( self )

Definition at line 960 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.velocityH ( self )

Definition at line 826 of file pose_ekf_slam.py.

def pose_ekf_slam.PoseEkfSlam.velocityUpdate	(	self,
		twist_msg
	)

twist_msg is a geometry_msgs/TwistWithCovariance msg

Definition at line 296 of file pose_ekf_slam.py.

Member Data Documentation

pose_ekf_slam.PoseEkfSlam::_P_ [private]

Definition at line 561 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::_x_ [private]

Definition at line 561 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::candidate_landmarks

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::covariance_marker

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::filter_updates

Definition at line 525 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::imu

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::is_ekf_init

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::is_imu_init

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::landmark_last_update

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::landmark_update_topics

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::landmark_values

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::last_prediction

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::listener

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::lock

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::mapped_lamdmarks

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::name

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::number_of_landmarks

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::odom

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::P

Definition at line 525 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::p_var

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::pub_landmarks

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::pub_map

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::pub_odom

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::Q

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::robot_frame_name

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::set_landmark

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::set_position

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::tf_cache

Definition at line 872 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::world_frame_name

Definition at line 33 of file pose_ekf_slam.py.

pose_ekf_slam.PoseEkfSlam::x

Definition at line 525 of file pose_ekf_slam.py.

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

pose_ekf_slam.py

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation