hector_pose_estimation::GenericQuaternionSystemModel Class Reference

#include <generic_quaternion_system_model.h>

Inheritance diagram for hector_pose_estimation::GenericQuaternionSystemModel:

List of all members.

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GenericQuaternionSystemModel ()
virtual void	getDerivative (StateVector &x_dot, const State &state)
virtual void	getPrior (State &state)
virtual void	getStateJacobian (SystemMatrix &A, const State &state, bool init=true)
virtual SystemStatus	getStatusFlags (const State &state)
virtual void	getSystemNoise (NoiseVariance &Q, const State &state, bool init=true)
virtual bool	init (PoseEstimation &estimator, System &system, State &state)
bool	prepareUpdate (State &state, double dt)
virtual	~GenericQuaternionSystemModel ()
Protected Types
typedef Input_< 3 >	ForceInput
typedef Input_< 3 >	RateInput
typedef Input_< 3 >	TorqueInput
Protected Attributes
ColumnVector3	acceleration_nav_
double	acceleration_stddev_
boost::shared_ptr< Accelerometer >	accelerometer_
double	angular_acceleration_stddev_
ForceInput::Ptr	force_input_
AliasT< double >	gravity_
boost::shared_ptr< Gyro >	gyro_
boost::shared_ptr< ImuInput >	imu_
RateInput::Ptr	rate_input_
ColumnVector3	rate_nav_
double	rate_stddev_
TorqueInput::Ptr	torque_input_
double	velocity_stddev_

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Detailed Description

Definition at line 51 of file generic_quaternion_system_model.h.

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Member Typedef Documentation

typedef Input_<3> hector_pose_estimation::GenericQuaternionSystemModel::ForceInput [protected]

Definition at line 96 of file generic_quaternion_system_model.h.

typedef Input_<3> hector_pose_estimation::GenericQuaternionSystemModel::RateInput [protected]

Definition at line 94 of file generic_quaternion_system_model.h.

typedef Input_<3> hector_pose_estimation::GenericQuaternionSystemModel::TorqueInput [protected]

Definition at line 92 of file generic_quaternion_system_model.h.

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Constructor & Destructor Documentation

hector_pose_estimation::GenericQuaternionSystemModel::GenericQuaternionSystemModel

(

)

Definition at line 38 of file generic_quaternion_system_model.cpp.

hector_pose_estimation::GenericQuaternionSystemModel::~GenericQuaternionSystemModel

(

)

[virtual]

Definition at line 52 of file generic_quaternion_system_model.cpp.

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Member Function Documentation

void hector_pose_estimation::GenericQuaternionSystemModel::getDerivative	(	StateVector &	x_dot,
		const State &	state
	)		[virtual]

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 167 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::getPrior

(

State &

state

)

[virtual]

Reimplemented from hector_pose_estimation::SystemModel_< GenericQuaternionSystemModel, Dynamic, Dynamic >.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 102 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::getStateJacobian	(	SystemMatrix &	A,
		const State &	state,
		bool	init = true
	)		[virtual]

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 263 of file generic_quaternion_system_model.cpp.

SystemStatus hector_pose_estimation::GenericQuaternionSystemModel::getStatusFlags

(

const State &

state

)

[virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 321 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::getSystemNoise	(	NoiseVariance &	Q,
		const State &	state,
		bool	init = true
	)		[virtual]

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.

Definition at line 209 of file generic_quaternion_system_model.cpp.

bool hector_pose_estimation::GenericQuaternionSystemModel::init	(	PoseEstimation &	estimator,
		System &	system,
		State &	state
	)		[virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 56 of file generic_quaternion_system_model.cpp.

bool hector_pose_estimation::GenericQuaternionSystemModel::prepareUpdate	(	State &	state,
		double	dt
	)		[virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 128 of file generic_quaternion_system_model.cpp.

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Member Data Documentation

ColumnVector3 hector_pose_estimation::GenericQuaternionSystemModel::acceleration_nav_ [protected]

Definition at line 89 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::acceleration_stddev_ [protected]

Definition at line 80 of file generic_quaternion_system_model.h.

boost::shared_ptr<Accelerometer> hector_pose_estimation::GenericQuaternionSystemModel::accelerometer_ [protected]

Definition at line 86 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::angular_acceleration_stddev_ [protected]

Definition at line 81 of file generic_quaternion_system_model.h.

ForceInput::Ptr hector_pose_estimation::GenericQuaternionSystemModel::force_input_ [protected]

Definition at line 97 of file generic_quaternion_system_model.h.

AliasT<double> hector_pose_estimation::GenericQuaternionSystemModel::gravity_ [protected]

Definition at line 78 of file generic_quaternion_system_model.h.

boost::shared_ptr<Gyro> hector_pose_estimation::GenericQuaternionSystemModel::gyro_ [protected]

Definition at line 85 of file generic_quaternion_system_model.h.

boost::shared_ptr<ImuInput> hector_pose_estimation::GenericQuaternionSystemModel::imu_ [protected]

Definition at line 84 of file generic_quaternion_system_model.h.

RateInput::Ptr hector_pose_estimation::GenericQuaternionSystemModel::rate_input_ [protected]

Definition at line 95 of file generic_quaternion_system_model.h.

ColumnVector3 hector_pose_estimation::GenericQuaternionSystemModel::rate_nav_ [protected]

Definition at line 88 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::rate_stddev_ [protected]

Definition at line 79 of file generic_quaternion_system_model.h.

TorqueInput::Ptr hector_pose_estimation::GenericQuaternionSystemModel::torque_input_ [protected]

Definition at line 93 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::velocity_stddev_ [protected]

Definition at line 82 of file generic_quaternion_system_model.h.

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

• generic_quaternion_system_model.h
• generic_quaternion_system_model.cpp