#include <poseupdate.h>
Classes | |
class | Update |
Public Member Functions | |
PoseUpdate (const std::string &name="poseupdate") | |
virtual bool | updateImpl (const MeasurementUpdate &update) |
virtual | ~PoseUpdate () |
Protected Member Functions | |
virtual Queue & | queue () |
Protected Attributes | |
Queue_< Update > | queue_ |
Private Types | |
typedef boost::function< void(State &state, const ColumnVector &diff)> | JumpFunction |
Private Member Functions | |
double | calculateOmega (const SymmetricMatrix &Ix, const SymmetricMatrix &Iy) |
template<typename MeasurementVector , typename MeasurementMatrix , typename NoiseVariance > | |
double | updateInternal (State &state, const NoiseVariance &Iy, const MeasurementVector &error, const MeasurementMatrix &H, const std::string &text, const double max_error=0.0, JumpFunction jump_function=JumpFunction()) |
Private Attributes | |
double | fixed_alpha_ |
double | fixed_angular_rate_xy_stddev_ |
double | fixed_angular_rate_z_stddev_ |
double | fixed_beta_ |
double | fixed_position_xy_stddev_ |
double | fixed_position_z_stddev_ |
double | fixed_velocity_xy_stddev_ |
double | fixed_velocity_z_stddev_ |
double | fixed_yaw_stddev_ |
bool | interpret_covariance_as_information_matrix_ |
bool | jump_on_max_error_ |
double | max_angular_rate_xy_error_ |
double | max_angular_rate_z_error_ |
double | max_position_xy_error_ |
double | max_position_z_error_ |
double | max_time_difference_ |
double | max_velocity_xy_error_ |
double | max_velocity_z_error_ |
double | max_yaw_error_ |
PositionXYModel | position_xy_model_ |
PositionZModel | position_z_model_ |
TwistModel | twist_model_ |
YawModel | yaw_model_ |
Definition at line 82 of file poseupdate.h.
typedef boost::function<void(State &state, const ColumnVector &diff)> hector_pose_estimation::PoseUpdate::JumpFunction [private] |
Definition at line 133 of file poseupdate.h.
hector_pose_estimation::PoseUpdate::PoseUpdate | ( | const std::string & | name = "poseupdate" | ) |
Definition at line 38 of file poseupdate.cpp.
hector_pose_estimation::PoseUpdate::~PoseUpdate | ( | ) | [virtual] |
Definition at line 88 of file poseupdate.cpp.
double hector_pose_estimation::PoseUpdate::calculateOmega | ( | const SymmetricMatrix & | Ix, |
const SymmetricMatrix & | Iy | ||
) | [private] |
Definition at line 340 of file poseupdate.cpp.
virtual Queue& hector_pose_estimation::PoseUpdate::queue | ( | ) | [inline, protected, virtual] |
Implements hector_pose_estimation::Measurement.
Definition at line 141 of file poseupdate.h.
bool hector_pose_estimation::PoseUpdate::updateImpl | ( | const MeasurementUpdate & | update | ) | [virtual] |
Reimplemented from hector_pose_estimation::Measurement.
Definition at line 92 of file poseupdate.cpp.
double hector_pose_estimation::PoseUpdate::updateInternal | ( | State & | state, |
const NoiseVariance & | Iy, | ||
const MeasurementVector & | error, | ||
const MeasurementMatrix & | H, | ||
const std::string & | text, | ||
const double | max_error = 0.0 , |
||
JumpFunction | jump_function = JumpFunction() |
||
) | [private] |
Definition at line 347 of file poseupdate.cpp.
double hector_pose_estimation::PoseUpdate::fixed_alpha_ [private] |
Definition at line 109 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_angular_rate_xy_stddev_ [private] |
Definition at line 118 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_angular_rate_z_stddev_ [private] |
Definition at line 119 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_beta_ [private] |
Definition at line 109 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_position_xy_stddev_ [private] |
Definition at line 112 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_position_z_stddev_ [private] |
Definition at line 113 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_velocity_xy_stddev_ [private] |
Definition at line 116 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_velocity_z_stddev_ [private] |
Definition at line 117 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::fixed_yaw_stddev_ [private] |
Definition at line 114 of file poseupdate.h.
Definition at line 110 of file poseupdate.h.
bool hector_pose_estimation::PoseUpdate::jump_on_max_error_ [private] |
Definition at line 131 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_angular_rate_xy_error_ [private] |
Definition at line 128 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_angular_rate_z_error_ [private] |
Definition at line 129 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_position_xy_error_ [private] |
Definition at line 122 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_position_z_error_ [private] |
Definition at line 123 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_time_difference_ [private] |
Definition at line 121 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_velocity_xy_error_ [private] |
Definition at line 126 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_velocity_z_error_ [private] |
Definition at line 127 of file poseupdate.h.
double hector_pose_estimation::PoseUpdate::max_yaw_error_ [private] |
Definition at line 124 of file poseupdate.h.
Definition at line 104 of file poseupdate.h.
Definition at line 105 of file poseupdate.h.
Queue_<Update> hector_pose_estimation::PoseUpdate::queue_ [protected] |
Definition at line 140 of file poseupdate.h.
Definition at line 107 of file poseupdate.h.
Definition at line 106 of file poseupdate.h.