#include <KalmanStateEstimator.hpp>

Inheritance diagram for telekyb_state::KalmanStateEstimator:

Public Member Functions
virtual void	destroy ()
virtual void	destroy ()
virtual std::string	getName () const
virtual std::string	getName () const
void	imuCallback (const sensor_msgs::Imu::ConstPtr &msg)
void	imuCallback (const sensor_msgs::Imu::ConstPtr &msg)
virtual void	initialize ()
virtual void	initialize ()
void	viconCallback (const geometry_msgs::TransformStamped::ConstPtr &msg)
void	viconCallback (const geometry_msgs::TransformStamped::ConstPtr &msg)
virtual void	willBecomeActive ()
virtual void	willBecomeActive ()
virtual void	willBecomeInActive ()
virtual void	willBecomeInActive ()
Protected Member Functions
void	core ()
void	core ()
void	prediction (StateBufferElement &state, const InputBufferElement &u, double Tpred)
void	prediction (StateBufferElement &state, const InputBufferElement &u, double Tpred)
void	publishEstimate (const StateBufferElement &estimate)
void	publishEstimate (const StateBufferElement &estimate)
template<typename _BufferElement >
std::deque< _BufferElement > ::iterator	searchInBuffer (std::deque< _BufferElement > &buffer, double time)
template<typename _BufferElement >
std::deque< _BufferElement, Eigen::aligned_allocator < _BufferElement > >::iterator	searchInBuffer (std::deque< _BufferElement, Eigen::aligned_allocator< _BufferElement > > &buffer, double time)
Protected Attributes
std::deque< InputBufferElement > ::const_iterator	currentInputIndex
std::deque< InputBufferElement, Eigen::aligned_allocator < InputBufferElement > >::const_iterator	currentInputIndex
ros::Subscriber	imuSub
std::deque< InputBufferElement >	inputBuffer
std::deque< InputBufferElement, Eigen::aligned_allocator < InputBufferElement > >	inputBuffer
StateBufferElement	internalState
Time	intTime
bool	isInitialized
bool	isInitializedAngVel
bool	isInitializedLinVel
bool	isInitializedPose
std::deque< MeasureBufferElement >	measureBuffer
std::deque < MeasureBufferElement, Eigen::aligned_allocator < MeasureBufferElement > >	measureBuffer
InputBufferElement	newInput
boost::mutex	newInputMutex
bool	newInputReceived
MeasureBufferElement	newMeasure
boost::mutex	newMeasureMutex
bool	newMeasureReceived
std::deque < MeasureBufferElement > ::const_iterator	nextMeasureIndex
std::deque < MeasureBufferElement, Eigen::aligned_allocator < StateBufferElement > >::const_iterator	nextMeasureIndex
ros::NodeHandle	nodeHandle
KalmanStateEstimatorOptions	options
double	predTime
Timer	saveTimer
std::deque< StateBufferElement >	stateBuffer
std::deque< StateBufferElement, Eigen::aligned_allocator < StateBufferElement > >	stateBuffer
ros::Publisher	statePub
EigenTools	tools
ViconHandler	viconHandler
MeasureHandler	viconHanler
ros::Subscriber	vicSub

Detailed Description

Definition at line 68 of file KalmanStateEstimator/KalmanStateEstimator.hpp.

Member Function Documentation

void telekyb_state::KalmanStateEstimator::core ( ) [protected]

Definition at line 70 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

void telekyb_state::KalmanStateEstimator::core ( ) [protected]

void telekyb_state::KalmanStateEstimator::destroy ( ) [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 367 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

virtual void telekyb_state::KalmanStateEstimator::destroy ( ) [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

virtual std::string telekyb_state::KalmanStateEstimator::getName ( ) const [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

std::string telekyb_state::KalmanStateEstimator::getName ( ) const [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 369 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

void telekyb_state::KalmanStateEstimator::imuCallback ( const sensor_msgs::Imu::ConstPtr & msg )

Definition at line 197 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

void telekyb_state::KalmanStateEstimator::initialize ( ) [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

Definition at line 57 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

virtual void telekyb_state::KalmanStateEstimator::initialize ( ) [virtual]

Implements TELEKYB_NAMESPACE::StateEstimator.

void telekyb_state::KalmanStateEstimator::prediction	(	StateBufferElement &	state,
		const InputBufferElement &	u,
		double	Tpred
	)		`[protected]`

Definition at line 262 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

void telekyb_state::KalmanStateEstimator::prediction	(	StateBufferElement &	state,
		const InputBufferElement &	u,
		double	Tpred
	)		`[protected]`

void telekyb_state::KalmanStateEstimator::publishEstimate ( const StateBufferElement & estimate ) [protected]

Definition at line 190 of file KalmanStateEstimator/KalmanStateEstimator.cpp.

void telekyb_state::KalmanStateEstimator::publishEstimate ( const StateBufferElement & estimate ) [protected]

template<typename _BufferElement >

std::deque< _BufferElement >::iterator telekyb_state::KalmanStateEstimator::searchInBuffer	(	std::deque< _BufferElement > &	buffer,
		double	time
	)		`[protected]`

Definition at line 133 of file KalmanStateEstimator/KalmanStateEstimator.hpp.

template<typename _BufferElement >

std::deque< _BufferElement, Eigen::aligned_allocator< _BufferElement > >::iterator telekyb_state::KalmanStateEstimator::searchInBuffer	(	std::deque< _BufferElement, Eigen::aligned_allocator< _BufferElement > > &	buffer,
		double	time
	)		`[protected]`