#include <GraftUKFAttitude.h>
Public Member Functions | |
| MatrixXd | f (MatrixXd x, double dt) |
| graft::GraftStatePtr | getMessageFromState () |
| graft::GraftStatePtr | getMessageFromState (Matrix< double, SIZE, 1 > &state, Matrix< double, SIZE, SIZE > &covariance) |
| GraftUKFAttitude () | |
| std::vector< MatrixXd > | predict_sigma_points (std::vector< MatrixXd > &sigma_points, double dt) |
| double | predictAndUpdate () |
| void | setAlpha (const double alpha) |
| void | setBeta (const double beta) |
| void | setInitialCovariance (std::vector< double > &P) |
| void | setKappa (const double kappa) |
| void | setProcessNoise (std::vector< double > &Q) |
| void | setTopics (std::vector< boost::shared_ptr< GraftSensor > > &topics) |
| ~GraftUKFAttitude () | |
Private Attributes | |
| double | alpha_ |
| double | beta_ |
| Matrix< double, SIZE, 1 > | graft_control_ |
| Matrix< double, SIZE, SIZE > | graft_covariance_ |
| Matrix< double, SIZE, 1 > | graft_state_ |
| double | kappa_ |
| ros::Time | last_imu_time_ |
| ros::Time | last_update_time_ |
| Matrix< double, SIZE, SIZE > | Q_ |
| std::vector< boost::shared_ptr < GraftSensor > > | topics_ |
Definition at line 51 of file GraftUKFAttitude.h.
Definition at line 37 of file GraftUKFAttitude.cpp.
Definition at line 45 of file GraftUKFAttitude.cpp.
| MatrixXd GraftUKFAttitude::f | ( | MatrixXd | x, |
| double | dt | ||
| ) |
Definition at line 164 of file GraftUKFAttitude.cpp.
| graft::GraftStatePtr GraftUKFAttitude::getMessageFromState | ( | ) |
Definition at line 195 of file GraftUKFAttitude.cpp.
| graft::GraftStatePtr GraftUKFAttitude::getMessageFromState | ( | Matrix< double, SIZE, 1 > & | state, |
| Matrix< double, SIZE, SIZE > & | covariance | ||
| ) |
Definition at line 199 of file GraftUKFAttitude.cpp.
| std::vector< MatrixXd > GraftUKFAttitude::predict_sigma_points | ( | std::vector< MatrixXd > & | sigma_points, |
| double | dt | ||
| ) |
Definition at line 187 of file GraftUKFAttitude.cpp.
| double GraftUKFAttitude::predictAndUpdate | ( | ) |
Definition at line 329 of file GraftUKFAttitude.cpp.
| void GraftUKFAttitude::setAlpha | ( | const double | alpha | ) |
Definition at line 409 of file GraftUKFAttitude.cpp.
| void GraftUKFAttitude::setBeta | ( | const double | beta | ) |
Definition at line 417 of file GraftUKFAttitude.cpp.
| void GraftUKFAttitude::setInitialCovariance | ( | std::vector< double > & | P | ) |
Definition at line 373 of file GraftUKFAttitude.cpp.
| void GraftUKFAttitude::setKappa | ( | const double | kappa | ) |
Definition at line 413 of file GraftUKFAttitude.cpp.
| void GraftUKFAttitude::setProcessNoise | ( | std::vector< double > & | Q | ) |
Definition at line 391 of file GraftUKFAttitude.cpp.
| void GraftUKFAttitude::setTopics | ( | std::vector< boost::shared_ptr< GraftSensor > > & | topics | ) |
Definition at line 369 of file GraftUKFAttitude.cpp.
double GraftUKFAttitude::alpha_ [private] |
Definition at line 89 of file GraftUKFAttitude.h.
double GraftUKFAttitude::beta_ [private] |
Definition at line 90 of file GraftUKFAttitude.h.
Matrix<double, SIZE, 1> GraftUKFAttitude::graft_control_ [private] |
Definition at line 81 of file GraftUKFAttitude.h.
Matrix<double, SIZE, SIZE> GraftUKFAttitude::graft_covariance_ [private] |
Definition at line 82 of file GraftUKFAttitude.h.
Matrix<double, SIZE, 1> GraftUKFAttitude::graft_state_ [private] |
Definition at line 80 of file GraftUKFAttitude.h.
double GraftUKFAttitude::kappa_ [private] |
Definition at line 91 of file GraftUKFAttitude.h.
ros::Time GraftUKFAttitude::last_imu_time_ [private] |
Definition at line 87 of file GraftUKFAttitude.h.
ros::Time GraftUKFAttitude::last_update_time_ [private] |
Definition at line 86 of file GraftUKFAttitude.h.
Matrix<double, SIZE, SIZE> GraftUKFAttitude::Q_ [private] |
Definition at line 84 of file GraftUKFAttitude.h.
std::vector<boost::shared_ptr<GraftSensor> > GraftUKFAttitude::topics_ [private] |
Definition at line 93 of file GraftUKFAttitude.h.