#include <odom_estimation.h>

Public Member Functions
void	addMeasurement (const tf::StampedTransform &meas)
void	addMeasurement (const tf::StampedTransform &meas, const MatrixWrapper::SymmetricMatrix &covar)
void	getEstimate (MatrixWrapper::ColumnVector &estimate)
void	getEstimate (ros::Time time, tf::Transform &estimate)
void	getEstimate (ros::Time time, tf::StampedTransform &estimate)
void	getEstimate (geometry_msgs::PoseWithCovarianceStamped &estimate)
void	initialize (const tf::Transform &prior, const ros::Time &time)
bool	isInitialized ()
	OdomEstimation ()
	constructor
void	setBaseFootprintFrame (const std::string &base_frame)
void	setOutputFrame (const std::string &output_frame)
bool	update (bool odom_active, bool imu_active, bool gps_active, bool vo_active, const ros::Time &filter_time, bool &diagnostics_res)
virtual	~OdomEstimation ()
	destructor
Private Member Functions
void	angleOverflowCorrect (double &a, double ref)
	correct for angle overflow
void	decomposeTransform (const tf::StampedTransform &trans, double &x, double &y, double &z, double &Rx, double &Ry, double &Rz)
void	decomposeTransform (const tf::Transform &trans, double &x, double &y, double &z, double &Rx, double &Ry, double &Rz)
Private Attributes
std::string	base_footprint_frame_
double	diagnostics_imu_rot_rel_
double	diagnostics_odom_rot_rel_
BFL::ExtendedKalmanFilter *	filter_
tf::Transform	filter_estimate_old_
MatrixWrapper::ColumnVector	filter_estimate_old_vec_
bool	filter_initialized_
ros::Time	filter_time_old_
MatrixWrapper::SymmetricMatrix	gps_covariance_
bool	gps_initialized_
tf::StampedTransform	gps_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	gps_meas_model_
tf::StampedTransform	gps_meas_old_
BFL::LinearAnalyticConditionalGaussian *	gps_meas_pdf_
MatrixWrapper::SymmetricMatrix	imu_covariance_
bool	imu_initialized_
tf::StampedTransform	imu_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	imu_meas_model_
tf::StampedTransform	imu_meas_old_
BFL::LinearAnalyticConditionalGaussian *	imu_meas_pdf_
MatrixWrapper::SymmetricMatrix	odom_covariance_
bool	odom_initialized_
tf::StampedTransform	odom_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	odom_meas_model_
tf::StampedTransform	odom_meas_old_
BFL::LinearAnalyticConditionalGaussian *	odom_meas_pdf_
std::string	output_frame_
BFL::Gaussian *	prior_
BFL::AnalyticSystemModelGaussianUncertainty *	sys_model_
BFL::NonLinearAnalyticConditionalGaussianOdo *	sys_pdf_
tf::Transformer	transformer_
MatrixWrapper::ColumnVector	vel_desi_
MatrixWrapper::SymmetricMatrix	vo_covariance_
bool	vo_initialized_
tf::StampedTransform	vo_meas_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	vo_meas_model_
tf::StampedTransform	vo_meas_old_
BFL::LinearAnalyticConditionalGaussian *	vo_meas_pdf_

Detailed Description

Definition at line 60 of file odom_estimation.h.

Constructor & Destructor Documentation

estimation::OdomEstimation::OdomEstimation ( )

constructor

Definition at line 49 of file odom_estimation.cpp.

estimation::OdomEstimation::~OdomEstimation ( ) [virtual]

destructor

Definition at line 112 of file odom_estimation.cpp.

Member Function Documentation

void estimation::OdomEstimation::addMeasurement ( const tf::StampedTransform & meas )

Add a sensor measurement to the measurement buffer

Parameters:

meas	the measurement to add

Definition at line 322 of file odom_estimation.cpp.

void estimation::OdomEstimation::addMeasurement	(	const tf::StampedTransform &	meas,
		const MatrixWrapper::SymmetricMatrix &	covar
	)

Add a sensor measurement to the measurement buffer

Parameters:

meas	the measurement to add
covar	the 6x6 covariance matrix of this measurement, as defined in the PoseWithCovariance message

Definition at line 332 of file odom_estimation.cpp.

void estimation::OdomEstimation::angleOverflowCorrect	(	double &	a,
		double	ref
	)		`[private]`

correct for angle overflow

Definition at line 403 of file odom_estimation.cpp.

void estimation::OdomEstimation::decomposeTransform	(	const tf::StampedTransform &	trans,
		double &	x,
		double &	y,
		double &	z,
		double &	Rx,
		double &	Ry,
		double &	Rz
	)		`[private]`

Definition at line 410 of file odom_estimation.cpp.

void estimation::OdomEstimation::decomposeTransform	(	const tf::Transform &	trans,
		double &	x,
		double &	y,
		double &	z,
		double &	Rx,
		double &	Ry,
		double &	Rz
	)		`[private]`

Definition at line 419 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate ( MatrixWrapper::ColumnVector & estimate )

get the filter posterior

Parameters:

estimate the filter posterior as a columnvector

Definition at line 352 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate	(	ros::Time	time,
		tf::Transform &	estimate
	)

get the filter posterior

Parameters:

time	the time of the filter posterior
estimate	the filter posterior as a tf transform

Definition at line 358 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate	(	ros::Time	time,
		tf::StampedTransform &	estimate
	)

get the filter posterior

Parameters:

time	the time of the filter posterior
estimate	the filter posterior as a stamped tf transform

Definition at line 370 of file odom_estimation.cpp.

void estimation::OdomEstimation::getEstimate ( geometry_msgs::PoseWithCovarianceStamped & estimate )

get the filter posterior

Parameters:

estimate the filter posterior as a pose with covariance

Definition at line 380 of file odom_estimation.cpp.

void estimation::OdomEstimation::initialize	(	const tf::Transform &	prior,
		const ros::Time &	time
	)

initialize the extended Kalman filter

Parameters:

prior	the prior robot pose
time	the initial time of the ekf

Definition at line 129 of file odom_estimation.cpp.

bool estimation::OdomEstimation::isInitialized ( ) [inline]

check if the filter is initialized returns true if the ekf has been initialized already

Definition at line 89 of file odom_estimation.h.

void estimation::OdomEstimation::setBaseFootprintFrame ( const std::string & base_frame )

set the base_footprint frame of the robot used by tf

Parameters:

base_frame the desired base frame from which to transform when publishing the combined odometry frame (e.g., base_footprint)

Definition at line 431 of file odom_estimation.cpp.

void estimation::OdomEstimation::setOutputFrame ( const std::string & output_frame )

set the output frame used by tf

Parameters:

output_frame the desired output frame published on /tf (e.g., odom_combined)

Definition at line 427 of file odom_estimation.cpp.

bool estimation::OdomEstimation::update	(	bool	odom_active,
		bool	imu_active,
		bool	gps_active,
		bool	vo_active,
		const ros::Time &	filter_time,
		bool &	diagnostics_res
	)

update the extended Kalman filter

Parameters:

odom_active	specifies if the odometry sensor is active or not
imu_active	specifies if the imu sensor is active or not
gps_active	specifies if the gps sensor is active or not
vo_active	specifies if the vo sensor is active or not
filter_time	update the ekf up to this time
diagnostics_res	returns false if the diagnostics found that the sensor measurements are inconsistent returns true on successfull update