#include <pose_estimation.h>

Public Member Functions
template<class InputType >
boost::shared_ptr< InputType >	addInput (const std::string &name=std::string())
InputPtr	addInput (const InputPtr &input, const std::string &name=std::string())
InputPtr	addInput (Input *input, const std::string &name=std::string())
const MeasurementPtr &	addMeasurement (const MeasurementPtr &measurement, const std::string &name=std::string())
const MeasurementPtr &	addMeasurement (Measurement *measurement)
template<class ConcreteMeasurementModel >
const MeasurementPtr &	addMeasurement (ConcreteMeasurementModel *model, const std::string &name)
const SystemPtr &	addSystem (const SystemPtr &system, const std::string &name="system")
const SystemPtr &	addSystem (System *system)
template<typename ConcreteSystemModel >
const SystemPtr &	addSystem (ConcreteSystemModel *model, const std::string &name="system")
void	cleanup ()
virtual boost::shared_ptr< Filter >	filter ()
virtual boost::shared_ptr < const Filter >	filter () const
virtual void	getBias (geometry_msgs::Vector3 &angular_velocity, geometry_msgs::Vector3 &linear_acceleration)
virtual void	getBias (geometry_msgs::Vector3Stamped &angular_velocity, geometry_msgs::Vector3Stamped &linear_acceleration)
virtual const State::Covariance &	getCovariance ()
virtual void	getGlobal (double &latitude, double &longitude, double &altitude)
virtual void	getGlobal (geographic_msgs::GeoPoint &global)
virtual void	getGlobal (sensor_msgs::NavSatFix &global)
virtual void	getGlobal (geographic_msgs::GeoPoint &position, geometry_msgs::Quaternion &quaternion)
virtual void	getGlobal (geographic_msgs::GeoPose &global)
virtual void	getGlobalPosition (double &latitude, double &longitude, double &altitude)
virtual void	getGlobalPosition (sensor_msgs::NavSatFix &global)
virtual void	getHeader (std_msgs::Header &header)
virtual void	getImuWithBiases (geometry_msgs::Vector3 &linear_acceleration, geometry_msgs::Vector3 &angular_velocity)
InputPtr	getInput (const std::string &name) const
template<class InputType >
boost::shared_ptr< InputType >	getInputType (const std::string &name) const
MeasurementPtr	getMeasurement (const std::string &name) const
template<typename MeasurementType >
boost::shared_ptr < MeasurementType >	getMeasurement_ (const std::string &name) const
virtual SystemStatus	getMeasurementStatus () const
virtual void	getOrientation (tf::Quaternion &quaternion)
virtual void	getOrientation (tf::Stamped< tf::Quaternion > &quaternion)
virtual void	getOrientation (geometry_msgs::Quaternion &pose)
virtual void	getOrientation (geometry_msgs::QuaternionStamped &pose)
virtual void	getOrientation (double &yaw, double &pitch, double &roll)
virtual void	getPose (tf::Pose &pose)
virtual void	getPose (tf::Stamped< tf::Pose > &pose)
virtual void	getPose (geometry_msgs::Pose &pose)
virtual void	getPose (geometry_msgs::PoseStamped &pose)
virtual void	getPosition (tf::Point &point)
virtual void	getPosition (tf::Stamped< tf::Point > &point)
virtual void	getPosition (geometry_msgs::Point &pose)
virtual void	getPosition (geometry_msgs::PointStamped &pose)
virtual void	getRate (tf::Vector3 &vector)
virtual void	getRate (tf::Stamped< tf::Vector3 > &vector)
virtual void	getRate (geometry_msgs::Vector3 &vector)
virtual void	getRate (geometry_msgs::Vector3Stamped &vector)
virtual void	getState (nav_msgs::Odometry &state, bool with_covariances=true)
virtual const State::Vector &	getStateVector ()
SystemPtr	getSystem (const std::string &name) const
template<typename SystemType >
boost::shared_ptr< SystemType >	getSystem_ (const std::string &name) const
virtual SystemStatus	getSystemStatus () const
virtual const ros::Time &	getTimestamp () const
virtual void	getTransforms (std::vector< tf::StampedTransform > &transforms)
virtual void	getVelocity (tf::Vector3 &vector)
virtual void	getVelocity (tf::Stamped< tf::Vector3 > &vector)
virtual void	getVelocity (geometry_msgs::Vector3 &vector)
virtual void	getVelocity (geometry_msgs::Vector3Stamped &vector)
virtual bool	getWorldToNavTransform (geometry_msgs::TransformStamped &transform)
virtual const GlobalReferencePtr &	globalReference ()
bool	init ()
virtual bool	inSystemStatus (SystemStatus test_status) const
virtual ParameterList &	parameters ()
virtual const ParameterList &	parameters () const
	PoseEstimation (const SystemPtr &system=SystemPtr(), const StatePtr &state=StatePtr())
template<typename ConcreteSystemModel >
	PoseEstimation (ConcreteSystemModel system_model, State state=0)
void	reset ()
InputPtr	setInput (const Input &input, std::string name=std::string())
virtual bool	setMeasurementStatus (SystemStatus new_status)
virtual bool	setSystemStatus (SystemStatus new_status)
virtual void	setTimestamp (const ros::Time &timestamp)
virtual const State &	state () const
virtual State &	state ()
void	update (ros::Time timestamp)
void	update (double dt)
virtual void	updated ()
virtual bool	updateMeasurementStatus (SystemStatus set, SystemStatus clear)
virtual bool	updateSystemStatus (SystemStatus set, SystemStatus clear)
virtual void	updateWorldToOtherTransform (tf::StampedTransform &world_to_other_transform)
virtual	~PoseEstimation ()
Static Public Member Functions
static PoseEstimation *	Instance ()
Protected Attributes
Inputs	inputs_
Measurements	measurements_
Systems	systems_
Private Attributes
ros::Time	alignment_start_
double	alignment_time_
std::string	base_frame_
FilterPtr	filter_
std::string	footprint_frame_
double	gravity_
boost::shared_ptr< Gravity >	gravity_update_
std::string	nav_frame_
ParameterList	parameters_
std::string	position_frame_
boost::shared_ptr< Rate >	rate_update_
std::string	stabilized_frame_
StatePtr	state_
ros::Time	timestamp_
std::string	world_frame_
boost::shared_ptr< ZeroRate >	zerorate_update_

Detailed Description

Definition at line 60 of file pose_estimation.h.

Constructor & Destructor Documentation

hector_pose_estimation::PoseEstimation::PoseEstimation	(	const SystemPtr &	system = `SystemPtr()`,
		const StatePtr &	state = `StatePtr()`
	)

Definition at line 44 of file pose_estimation.cpp.

template<typename ConcreteSystemModel >

hector_pose_estimation::PoseEstimation::PoseEstimation	(	ConcreteSystemModel *	system_model,
		State *	state = `0`
	)

Definition at line 195 of file pose_estimation.h.

hector_pose_estimation::PoseEstimation::~PoseEstimation ( ) [virtual]

Definition at line 78 of file pose_estimation.cpp.

Member Function Documentation

template<class InputType >

boost::shared_ptr< InputType > hector_pose_estimation::PoseEstimation::addInput ( const std::string & name = std::string() )

Definition at line 223 of file pose_estimation.h.

InputPtr hector_pose_estimation::PoseEstimation::addInput	(	const InputPtr &	input,
		const std::string &	name = `std::string()`
	)

Definition at line 285 of file pose_estimation.cpp.

InputPtr hector_pose_estimation::PoseEstimation::addInput	(	Input *	input,
		const std::string &	name = `std::string()`
	)		`[inline]`

Definition at line 94 of file pose_estimation.h.

const MeasurementPtr & hector_pose_estimation::PoseEstimation::addMeasurement	(	const MeasurementPtr &	measurement,
		const std::string &	name = `std::string()`
	)

Definition at line 304 of file pose_estimation.cpp.

const MeasurementPtr& hector_pose_estimation::PoseEstimation::addMeasurement ( Measurement * measurement ) [inline]

Definition at line 84 of file pose_estimation.h.

template<class ConcreteMeasurementModel >

const MeasurementPtr & hector_pose_estimation::PoseEstimation::addMeasurement	(	ConcreteMeasurementModel *	model,
		const std::string &	name
	)

Definition at line 212 of file pose_estimation.h.

const SystemPtr & hector_pose_estimation::PoseEstimation::addSystem	(	const SystemPtr &	system,
		const std::string &	name = `"system"`
	)

Definition at line 279 of file pose_estimation.cpp.

const SystemPtr& hector_pose_estimation::PoseEstimation::addSystem ( System * system ) [inline]

Definition at line 77 of file pose_estimation.h.

template<typename ConcreteSystemModel >

const SystemPtr & hector_pose_estimation::PoseEstimation::addSystem	(	ConcreteSystemModel *	model,
		const std::string &	name = `"system"`
	)

Definition at line 200 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::cleanup ( )

Definition at line 126 of file pose_estimation.cpp.

virtual boost::shared_ptr<Filter> hector_pose_estimation::PoseEstimation::filter ( ) [inline, virtual]

Definition at line 160 of file pose_estimation.h.

virtual boost::shared_ptr<const Filter> hector_pose_estimation::PoseEstimation::filter ( ) const [inline, virtual]

Definition at line 161 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::getBias	(	geometry_msgs::Vector3 &	angular_velocity,
		geometry_msgs::Vector3 &	linear_acceleration
	)		`[virtual]`

Definition at line 654 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getBias	(	geometry_msgs::Vector3Stamped &	angular_velocity,
		geometry_msgs::Vector3Stamped &	linear_acceleration
	)		`[virtual]`

Definition at line 679 of file pose_estimation.cpp.

const State::Covariance & hector_pose_estimation::PoseEstimation::getCovariance ( ) [virtual]

Definition at line 318 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobal	(	double &	latitude,
		double &	longitude,
		double &	altitude
	)		`[virtual]`

Definition at line 465 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobal ( geographic_msgs::GeoPoint & global ) [virtual]

Definition at line 478 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobal ( sensor_msgs::NavSatFix & global ) [virtual]

Definition at line 485 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobal	(	geographic_msgs::GeoPoint &	position,
		geometry_msgs::Quaternion &	quaternion
	)		`[virtual]`

Definition at line 512 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobal ( geographic_msgs::GeoPose & global ) [virtual]

Definition at line 522 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobalPosition	(	double &	latitude,
		double &	longitude,
		double &	altitude
	)		`[virtual]`

Definition at line 474 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobalPosition ( sensor_msgs::NavSatFix & global ) [virtual]

Definition at line 507 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getHeader ( std_msgs::Header & header ) [virtual]

Definition at line 362 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getImuWithBiases	(	geometry_msgs::Vector3 &	linear_acceleration,
		geometry_msgs::Vector3 &	angular_velocity
	)		`[virtual]`

Definition at line 561 of file pose_estimation.cpp.

InputPtr hector_pose_estimation::PoseEstimation::getInput ( const std::string & name ) const [inline]

Definition at line 97 of file pose_estimation.h.

template<class InputType >

boost::shared_ptr<InputType> hector_pose_estimation::PoseEstimation::getInputType ( const std::string & name ) const [inline]

Definition at line 90 of file pose_estimation.h.

MeasurementPtr hector_pose_estimation::PoseEstimation::getMeasurement ( const std::string & name ) const [inline]

Definition at line 87 of file pose_estimation.h.

template<typename MeasurementType >

boost::shared_ptr< MeasurementType > hector_pose_estimation::PoseEstimation::getMeasurement_ ( const std::string & name ) const

Definition at line 217 of file pose_estimation.h.

SystemStatus hector_pose_estimation::PoseEstimation::getMeasurementStatus ( ) const [virtual]

Definition at line 330 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( tf::Quaternion & quaternion ) [virtual]

Definition at line 527 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( tf::Stamped< tf::Quaternion > & quaternion ) [virtual]

Definition at line 532 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( geometry_msgs::Quaternion & pose ) [virtual]

Definition at line 538 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( geometry_msgs::QuaternionStamped & pose ) [virtual]

Definition at line 546 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation	(	double &	yaw,
		double &	pitch,
		double &	roll
	)		`[virtual]`

Definition at line 551 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPose ( tf::Pose & pose ) [virtual]

Definition at line 419 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPose ( tf::Stamped< tf::Pose > & pose ) [virtual]

Definition at line 426 of file pose_estimation.cpp.

virtual void hector_pose_estimation::PoseEstimation::getPose ( geometry_msgs::Pose & pose ) [virtual]

void hector_pose_estimation::PoseEstimation::getPose ( geometry_msgs::PoseStamped & pose ) [virtual]

Definition at line 437 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPosition ( tf::Point & point ) [virtual]

Definition at line 442 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPosition ( tf::Stamped< tf::Point > & point ) [virtual]

Definition at line 447 of file pose_estimation.cpp.

virtual void hector_pose_estimation::PoseEstimation::getPosition ( geometry_msgs::Point & pose ) [virtual]

void hector_pose_estimation::PoseEstimation::getPosition ( geometry_msgs::PointStamped & pose ) [virtual]

Definition at line 460 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( tf::Vector3 & vector ) [virtual]

Definition at line 607 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( tf::Stamped< tf::Vector3 > & vector ) [virtual]

Definition at line 613 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( geometry_msgs::Vector3 & vector ) [virtual]

Definition at line 619 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( geometry_msgs::Vector3Stamped & vector ) [virtual]

Definition at line 648 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getState	(	nav_msgs::Odometry &	state,
		bool	with_covariances = `true`
	)		`[virtual]`

Definition at line 367 of file pose_estimation.cpp.

const State::Vector & hector_pose_estimation::PoseEstimation::getStateVector ( ) [virtual]

Definition at line 310 of file pose_estimation.cpp.

SystemPtr hector_pose_estimation::PoseEstimation::getSystem ( const std::string & name ) const [inline]

Definition at line 80 of file pose_estimation.h.

template<typename SystemType >

boost::shared_ptr< SystemType > hector_pose_estimation::PoseEstimation::getSystem_ ( const std::string & name ) const

Definition at line 206 of file pose_estimation.h.

SystemStatus hector_pose_estimation::PoseEstimation::getSystemStatus ( ) const [virtual]

Definition at line 326 of file pose_estimation.cpp.

const ros::Time & hector_pose_estimation::PoseEstimation::getTimestamp ( ) const [virtual]

Definition at line 354 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getTransforms ( std::vector< tf::StampedTransform > & transforms ) [virtual]

Definition at line 687 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( tf::Vector3 & vector ) [virtual]

Definition at line 584 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( tf::Stamped< tf::Vector3 > & vector ) [virtual]

Definition at line 589 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( geometry_msgs::Vector3 & vector ) [virtual]

Definition at line 595 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( geometry_msgs::Vector3Stamped & vector ) [virtual]

Definition at line 602 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::getWorldToNavTransform ( geometry_msgs::TransformStamped & transform ) [virtual]

Definition at line 767 of file pose_estimation.cpp.

const GlobalReferencePtr & hector_pose_estimation::PoseEstimation::globalReference ( ) [virtual]

Definition at line 771 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::init ( )

Definition at line 88 of file pose_estimation.cpp.

PoseEstimation * hector_pose_estimation::PoseEstimation::Instance ( ) [static]

Definition at line 83 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::inSystemStatus ( SystemStatus test_status ) const [virtual]

Definition at line 334 of file pose_estimation.cpp.

virtual ParameterList& hector_pose_estimation::PoseEstimation::parameters ( ) [inline, virtual]

Definition at line 157 of file pose_estimation.h.

virtual const ParameterList& hector_pose_estimation::PoseEstimation::parameters ( ) const [inline, virtual]

Definition at line 158 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::reset ( )

Definition at line 138 of file pose_estimation.cpp.

InputPtr hector_pose_estimation::PoseEstimation::setInput	(	const Input &	input,
		std::string	name = `std::string()`
	)

Definition at line 291 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::setMeasurementStatus ( SystemStatus new_status ) [virtual]

Definition at line 342 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::setSystemStatus ( SystemStatus new_status ) [virtual]

Definition at line 338 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::setTimestamp ( const ros::Time & timestamp ) [virtual]

Definition at line 358 of file pose_estimation.cpp.

virtual const State& hector_pose_estimation::PoseEstimation::state ( ) const [inline, virtual]

Definition at line 99 of file pose_estimation.h.

virtual State& hector_pose_estimation::PoseEstimation::state ( ) [inline, virtual]

Definition at line 100 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::update ( ros::Time timestamp )

Definition at line 165 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::update ( double dt )

Definition at line 181 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::updated ( ) [virtual]

Definition at line 273 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::updateMeasurementStatus	(	SystemStatus	set,
		SystemStatus	clear
	)		`[virtual]`

Definition at line 350 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::updateSystemStatus	(	SystemStatus	set,
		SystemStatus	clear
	)		`[virtual]`

Definition at line 346 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::updateWorldToOtherTransform ( tf::StampedTransform & world_to_other_transform ) [virtual]

Definition at line 755 of file pose_estimation.cpp.

Member Data Documentation

ros::Time hector_pose_estimation::PoseEstimation::alignment_start_ [private]

Definition at line 184 of file pose_estimation.h.

double hector_pose_estimation::PoseEstimation::alignment_time_ [private]

Definition at line 185 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::base_frame_ [private]

Definition at line 179 of file pose_estimation.h.

FilterPtr hector_pose_estimation::PoseEstimation::filter_ [private]

Definition at line 172 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::footprint_frame_ [private]

Definition at line 181 of file pose_estimation.h.

double hector_pose_estimation::PoseEstimation::gravity_ [private]

Definition at line 187 of file pose_estimation.h.

boost::shared_ptr<Gravity> hector_pose_estimation::PoseEstimation::gravity_update_ [private]

Definition at line 190 of file pose_estimation.h.

Inputs hector_pose_estimation::PoseEstimation::inputs_ [protected]

Definition at line 168 of file pose_estimation.h.

Measurements hector_pose_estimation::PoseEstimation::measurements_ [protected]

Definition at line 167 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::nav_frame_ [private]

Definition at line 178 of file pose_estimation.h.

ParameterList hector_pose_estimation::PoseEstimation::parameters_ [private]

Definition at line 174 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::position_frame_ [private]

Definition at line 182 of file pose_estimation.h.

boost::shared_ptr<Rate> hector_pose_estimation::PoseEstimation::rate_update_ [private]

Definition at line 189 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::stabilized_frame_ [private]

Definition at line 180 of file pose_estimation.h.

StatePtr hector_pose_estimation::PoseEstimation::state_ [private]

Definition at line 171 of file pose_estimation.h.

Systems hector_pose_estimation::PoseEstimation::systems_ [protected]

Definition at line 166 of file pose_estimation.h.

ros::Time hector_pose_estimation::PoseEstimation::timestamp_ [private]

Definition at line 176 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::world_frame_ [private]

Definition at line 177 of file pose_estimation.h.

boost::shared_ptr<ZeroRate> hector_pose_estimation::PoseEstimation::zerorate_update_ [private]

Definition at line 191 of file pose_estimation.h.

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation