#include <state.h>
Public Types | |
typedef SubState_< 3, 3 > | AccelerationStateType |
typedef VectorBlock< Vector, 3 > | AccelerationType |
typedef VectorBlock< const Vector, 3 > | ConstAccelerationType |
typedef Block< const Covariance::Base > | ConstCovarianceBlock |
typedef VectorBlock< const Vector, 4 > | ConstOrientationType |
typedef VectorBlock< const Vector, 3 > | ConstPositionType |
typedef VectorBlock< const Vector, 3 > | ConstRateType |
typedef VectorBlock< const Vector > | ConstVectorSegment |
typedef VectorBlock< const Vector, 3 > | ConstVelocityType |
typedef SymmetricMatrix | Covariance |
typedef Block< Covariance::Base > | CovarianceBlock |
typedef SubState_< 4, 3 > | OrientationStateType |
typedef VectorBlock< Vector, 4 > | OrientationType |
typedef SubState_< 3, 3 > | PositionStateType |
typedef VectorBlock< Vector, 3 > | PositionType |
typedef SubState_< 3, 3 > | RateStateType |
typedef VectorBlock< Vector, 3 > | RateType |
typedef Matrix_< 3, 3 > | RotationMatrix |
typedef std::vector< SubStatePtr > | SubStates |
typedef Matrix | SystemMatrix |
typedef boost::function< bool(SystemStatus &)> | SystemStatusCallback |
typedef ColumnVector | Vector |
typedef VectorBlock< Vector > | VectorSegment |
typedef SubState_< 3, 3 > | VelocityStateType |
typedef VectorBlock< Vector, 3 > | VelocityType |
Public Member Functions | |
virtual const boost::shared_ptr < AccelerationStateType > & | acceleration () const |
template<int SubVectorDimension, int SubCovarianceDimension> | |
boost::shared_ptr< SubState_ < SubVectorDimension, SubCovarianceDimension > > | addSubState (const std::string &name=std::string()) |
template<int SubVectorDimension, int SubCovarianceDimension> | |
boost::shared_ptr< SubState_ < SubVectorDimension, SubCovarianceDimension > > | addSubState (const Model *model, const std::string &name=std::string()) |
virtual void | addSystemStatusCallback (const SystemStatusCallback &callback) |
virtual BaseState & | base () |
virtual const BaseState & | base () const |
virtual ConstAccelerationType | getAcceleration () const |
virtual const Covariance & | getCovariance () const |
virtual IndexType | getCovarianceDimension () const |
void | getEuler (double &roll, double &pitch, double &yaw) const |
ColumnVector3 | getEuler () const |
virtual SystemStatus | getMeasurementStatus () const |
virtual ConstOrientationType | getOrientation () const |
virtual ConstPositionType | getPosition () const |
virtual ConstRateType | getRate () const |
void | getRotationMatrix (RotationMatrix &R) const |
template<int Size> | |
VectorBlock< const Vector, Size > | getSegment (IndexType start) const |
template<int SubVectorDimension, int SubCovarianceDimension> | |
boost::shared_ptr< SubState_ < SubVectorDimension, SubCovarianceDimension > > | getSubState (const Model *model) const |
template<int SubVectorDimension, int SubCovarianceDimension> | |
boost::shared_ptr< SubState_ < SubVectorDimension, SubCovarianceDimension > > | getSubState (const std::string &name) const |
const SubStates & | getSubStates () const |
virtual SystemStatus | getSystemStatus () const |
const ros::Time & | getTimestamp () const |
virtual const Vector & | getVector () const |
virtual IndexType | getVectorDimension () const |
virtual ConstVelocityType | getVelocity () const |
double | getYaw () const |
virtual bool | inSystemStatus (SystemStatus test_status) const |
virtual void | normalize () |
virtual const boost::shared_ptr < OrientationStateType > & | orientation () const |
virtual Covariance & | P () |
virtual const boost::shared_ptr < PositionStateType > & | position () const |
const State::RotationMatrix & | R () const |
virtual const boost::shared_ptr < RateStateType > & | rate () const |
virtual void | reset () |
template<typename Derived > | |
void | setAcceleration (const Eigen::MatrixBase< Derived > &acceleration) |
virtual bool | setMeasurementStatus (SystemStatus new_status) |
void | setOrientation (const Quaternion &orientation) |
template<typename Derived > | |
void | setOrientation (const Eigen::MatrixBase< Derived > &orientation) |
template<typename Derived > | |
void | setPosition (const Eigen::MatrixBase< Derived > &position) |
template<typename Derived > | |
void | setRate (const Eigen::MatrixBase< Derived > &rate) |
void | setRollPitch (const Quaternion &orientation) |
void | setRollPitch (ScalarType roll, ScalarType pitch) |
virtual bool | setSystemStatus (SystemStatus new_status) |
void | setTimestamp (const ros::Time ×tamp) |
template<typename Derived > | |
void | setVelocity (const Eigen::MatrixBase< Derived > &velocity) |
void | setYaw (const Quaternion &orientation) |
void | setYaw (ScalarType yaw) |
virtual void | update (const Vector &vector_update) |
virtual void | updated () |
virtual bool | updateMeasurementStatus (SystemStatus set, SystemStatus clear) |
virtual void | updateOrientation (const ColumnVector3 &rotation_vector) |
virtual bool | updateSystemStatus (SystemStatus set, SystemStatus clear) |
virtual bool | valid () const |
virtual const boost::shared_ptr < VelocityStateType > & | velocity () const |
virtual Vector & | x () |
virtual | ~State () |
Protected Member Functions | |
AccelerationType | accelerationPart () |
void | accelerationSet () |
void | construct () |
OrientationType | orientationPart () |
void | orientationSet () |
PositionType | positionPart () |
void | positionSet () |
RateType | ratePart () |
void | rateSet () |
void | rollpitchSet () |
State () | |
VelocityType | velocityPart () |
void | velocitySet () |
void | yawSet () |
Protected Attributes | |
boost::shared_ptr < AccelerationStateType > | acceleration_ |
boost::shared_ptr< BaseState > | base_ |
Covariance | covariance_ |
Vector | fake_acceleration_ |
Vector | fake_orientation_ |
Vector | fake_position_ |
Vector | fake_rate_ |
Vector | fake_velocity_ |
SystemStatus | measurement_status_ |
boost::shared_ptr < OrientationStateType > | orientation_ |
boost::shared_ptr < PositionStateType > | position_ |
RotationMatrix | R_ |
bool | R_valid_ |
boost::shared_ptr< RateStateType > | rate_ |
std::vector< SystemStatusCallback > | status_callbacks_ |
SubStates | substates_ |
std::map< const Model *, SubStateWPtr > | substates_by_model_ |
std::map< std::string, SubStateWPtr > | substates_by_name_ |
SystemStatus | system_status_ |
ros::Time | timestamp_ |
Vector | vector_ |
boost::shared_ptr < VelocityStateType > | velocity_ |
typedef VectorBlock<Vector,3> hector_pose_estimation::State::AccelerationType |
typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstAccelerationType |
typedef Block<const Covariance::Base> hector_pose_estimation::State::ConstCovarianceBlock |
typedef VectorBlock<const Vector,4> hector_pose_estimation::State::ConstOrientationType |
typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstPositionType |
typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstRateType |
typedef VectorBlock<const Vector> hector_pose_estimation::State::ConstVectorSegment |
typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstVelocityType |
typedef Block<Covariance::Base> hector_pose_estimation::State::CovarianceBlock |
typedef VectorBlock<Vector,4> hector_pose_estimation::State::OrientationType |
typedef VectorBlock<Vector,3> hector_pose_estimation::State::PositionType |
typedef SubState_<3,3> hector_pose_estimation::State::RateStateType |
typedef VectorBlock<Vector,3> hector_pose_estimation::State::RateType |
typedef Matrix_<3,3> hector_pose_estimation::State::RotationMatrix |
typedef std::vector<SubStatePtr> hector_pose_estimation::State::SubStates |
typedef boost::function<bool(SystemStatus&)> hector_pose_estimation::State::SystemStatusCallback |
typedef VectorBlock<Vector> hector_pose_estimation::State::VectorSegment |
typedef VectorBlock<Vector,3> hector_pose_estimation::State::VelocityType |
hector_pose_estimation::State::~State | ( | ) | [virtual] |
hector_pose_estimation::State::State | ( | ) | [protected] |
virtual const boost::shared_ptr<AccelerationStateType>& hector_pose_estimation::State::acceleration | ( | ) | const [inline, virtual] |
AccelerationType hector_pose_estimation::State::accelerationPart | ( | ) | [protected] |
void hector_pose_estimation::State::accelerationSet | ( | ) | [protected] |
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > > hector_pose_estimation::State::addSubState | ( | const std::string & | name = std::string() | ) |
Definition at line 167 of file substate.h.
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > > hector_pose_estimation::State::addSubState | ( | const Model * | model, |
const std::string & | name = std::string() |
||
) |
Definition at line 172 of file substate.h.
void hector_pose_estimation::State::addSystemStatusCallback | ( | const SystemStatusCallback & | callback | ) | [virtual] |
virtual BaseState& hector_pose_estimation::State::base | ( | ) | [inline, virtual] |
virtual const BaseState& hector_pose_estimation::State::base | ( | ) | const [inline, virtual] |
void hector_pose_estimation::State::construct | ( | ) | [protected] |
State::ConstAccelerationType hector_pose_estimation::State::getAcceleration | ( | ) | const [virtual] |
virtual const Covariance& hector_pose_estimation::State::getCovariance | ( | ) | const [inline, virtual] |
virtual IndexType hector_pose_estimation::State::getCovarianceDimension | ( | ) | const [inline, virtual] |
void hector_pose_estimation::State::getEuler | ( | double & | roll, |
double & | pitch, | ||
double & | yaw | ||
) | const |
virtual SystemStatus hector_pose_estimation::State::getMeasurementStatus | ( | ) | const [inline, virtual] |
State::ConstOrientationType hector_pose_estimation::State::getOrientation | ( | ) | const [virtual] |
State::ConstPositionType hector_pose_estimation::State::getPosition | ( | ) | const [virtual] |
State::ConstRateType hector_pose_estimation::State::getRate | ( | ) | const [virtual] |
void hector_pose_estimation::State::getRotationMatrix | ( | RotationMatrix & | R | ) | const |
VectorBlock<const Vector, Size> hector_pose_estimation::State::getSegment | ( | IndexType | start | ) | const [inline] |
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > > hector_pose_estimation::State::getSubState | ( | const Model * | model | ) | const |
Definition at line 152 of file substate.h.
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > > hector_pose_estimation::State::getSubState | ( | const std::string & | name | ) | const |
Definition at line 162 of file substate.h.
const SubStates& hector_pose_estimation::State::getSubStates | ( | ) | const [inline] |
virtual SystemStatus hector_pose_estimation::State::getSystemStatus | ( | ) | const [inline, virtual] |
const ros::Time& hector_pose_estimation::State::getTimestamp | ( | ) | const [inline] |
virtual const Vector& hector_pose_estimation::State::getVector | ( | ) | const [inline, virtual] |
virtual IndexType hector_pose_estimation::State::getVectorDimension | ( | ) | const [inline, virtual] |
State::ConstVelocityType hector_pose_estimation::State::getVelocity | ( | ) | const [virtual] |
double hector_pose_estimation::State::getYaw | ( | ) | const |
bool hector_pose_estimation::State::inSystemStatus | ( | SystemStatus | test_status | ) | const [virtual] |
void hector_pose_estimation::State::normalize | ( | ) | [virtual] |
virtual const boost::shared_ptr<OrientationStateType>& hector_pose_estimation::State::orientation | ( | ) | const [inline, virtual] |
OrientationType hector_pose_estimation::State::orientationPart | ( | ) | [protected] |
void hector_pose_estimation::State::orientationSet | ( | ) | [protected] |
virtual Covariance& hector_pose_estimation::State::P | ( | ) | [inline, virtual] |
virtual const boost::shared_ptr<PositionStateType>& hector_pose_estimation::State::position | ( | ) | const [inline, virtual] |
PositionType hector_pose_estimation::State::positionPart | ( | ) | [protected] |
void hector_pose_estimation::State::positionSet | ( | ) | [protected] |
const State::RotationMatrix & hector_pose_estimation::State::R | ( | ) | const |
virtual const boost::shared_ptr<RateStateType>& hector_pose_estimation::State::rate | ( | ) | const [inline, virtual] |
RateType hector_pose_estimation::State::ratePart | ( | ) | [protected] |
void hector_pose_estimation::State::rateSet | ( | ) | [protected] |
void hector_pose_estimation::State::reset | ( | ) | [virtual] |
void hector_pose_estimation::State::rollpitchSet | ( | ) | [protected] |
void hector_pose_estimation::State::setAcceleration | ( | const Eigen::MatrixBase< Derived > & | acceleration | ) |
bool hector_pose_estimation::State::setMeasurementStatus | ( | SystemStatus | new_status | ) | [virtual] |
void hector_pose_estimation::State::setOrientation | ( | const Quaternion & | orientation | ) |
void hector_pose_estimation::State::setOrientation | ( | const Eigen::MatrixBase< Derived > & | orientation | ) |
void hector_pose_estimation::State::setPosition | ( | const Eigen::MatrixBase< Derived > & | position | ) |
void hector_pose_estimation::State::setRate | ( | const Eigen::MatrixBase< Derived > & | rate | ) |
void hector_pose_estimation::State::setRollPitch | ( | const Quaternion & | orientation | ) |
void hector_pose_estimation::State::setRollPitch | ( | ScalarType | roll, |
ScalarType | pitch | ||
) |
bool hector_pose_estimation::State::setSystemStatus | ( | SystemStatus | new_status | ) | [virtual] |
void hector_pose_estimation::State::setTimestamp | ( | const ros::Time & | timestamp | ) | [inline] |
void hector_pose_estimation::State::setVelocity | ( | const Eigen::MatrixBase< Derived > & | velocity | ) |
void hector_pose_estimation::State::setYaw | ( | const Quaternion & | orientation | ) |
void hector_pose_estimation::State::setYaw | ( | ScalarType | yaw | ) |
void hector_pose_estimation::State::update | ( | const Vector & | vector_update | ) | [virtual] |
void hector_pose_estimation::State::updated | ( | ) | [virtual] |
bool hector_pose_estimation::State::updateMeasurementStatus | ( | SystemStatus | set, |
SystemStatus | clear | ||
) | [virtual] |
void hector_pose_estimation::State::updateOrientation | ( | const ColumnVector3 & | rotation_vector | ) | [virtual] |
bool hector_pose_estimation::State::updateSystemStatus | ( | SystemStatus | set, |
SystemStatus | clear | ||
) | [virtual] |
bool hector_pose_estimation::State::valid | ( | ) | const [virtual] |
virtual const boost::shared_ptr<VelocityStateType>& hector_pose_estimation::State::velocity | ( | ) | const [inline, virtual] |
VelocityType hector_pose_estimation::State::velocityPart | ( | ) | [protected] |
void hector_pose_estimation::State::velocitySet | ( | ) | [protected] |
virtual Vector& hector_pose_estimation::State::x | ( | ) | [inline, virtual] |
void hector_pose_estimation::State::yawSet | ( | ) | [protected] |
boost::shared_ptr<AccelerationStateType> hector_pose_estimation::State::acceleration_ [protected] |
boost::shared_ptr<BaseState> hector_pose_estimation::State::base_ [protected] |
Covariance hector_pose_estimation::State::covariance_ [protected] |
Vector hector_pose_estimation::State::fake_position_ [protected] |
Vector hector_pose_estimation::State::fake_rate_ [protected] |
Vector hector_pose_estimation::State::fake_velocity_ [protected] |
boost::shared_ptr<OrientationStateType> hector_pose_estimation::State::orientation_ [protected] |
boost::shared_ptr<PositionStateType> hector_pose_estimation::State::position_ [protected] |
RotationMatrix hector_pose_estimation::State::R_ [mutable, protected] |
bool hector_pose_estimation::State::R_valid_ [mutable, protected] |
boost::shared_ptr<RateStateType> hector_pose_estimation::State::rate_ [protected] |
std::vector<SystemStatusCallback> hector_pose_estimation::State::status_callbacks_ [protected] |
SubStates hector_pose_estimation::State::substates_ [protected] |
std::map<const Model *, SubStateWPtr> hector_pose_estimation::State::substates_by_model_ [protected] |
std::map<std::string, SubStateWPtr> hector_pose_estimation::State::substates_by_name_ [protected] |
ros::Time hector_pose_estimation::State::timestamp_ [protected] |
Vector hector_pose_estimation::State::vector_ [protected] |
boost::shared_ptr<VelocityStateType> hector_pose_estimation::State::velocity_ [protected] |