Public Member Functions | Private Attributes
GraftUKFVelocity Class Reference

#include <GraftUKFVelocity.h>

List of all members.

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)
 GraftUKFVelocity ()
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)
 ~GraftUKFVelocity ()

Private Attributes

double alpha_
double beta_
Matrix< double, SIZE, 1 > graft_control_
Matrix< double, SIZE, SIZEgraft_covariance_
Matrix< double, SIZE, 1 > graft_state_
double kappa_
ros::Time last_imu_time_
ros::Time last_update_time_
Matrix< double, SIZE, SIZEQ_
std::vector< boost::shared_ptr
< GraftSensor > > 
topics_

Detailed Description

Definition at line 51 of file GraftUKFVelocity.h.


Constructor & Destructor Documentation

Definition at line 37 of file GraftUKFVelocity.cpp.

Definition at line 44 of file GraftUKFVelocity.cpp.


Member Function Documentation

MatrixXd GraftUKFVelocity::f ( MatrixXd  x,
double  dt 
)

Definition at line 114 of file GraftUKFVelocity.cpp.

graft::GraftStatePtr GraftUKFVelocity::getMessageFromState ( )

Definition at line 138 of file GraftUKFVelocity.cpp.

graft::GraftStatePtr GraftUKFVelocity::getMessageFromState ( Matrix< double, SIZE, 1 > &  state,
Matrix< double, SIZE, SIZE > &  covariance 
)

Definition at line 142 of file GraftUKFVelocity.cpp.

std::vector< MatrixXd > GraftUKFVelocity::predict_sigma_points ( std::vector< MatrixXd > &  sigma_points,
double  dt 
)

Definition at line 130 of file GraftUKFVelocity.cpp.

Definition at line 236 of file GraftUKFVelocity.cpp.

void GraftUKFVelocity::setAlpha ( const double  alpha)

Definition at line 315 of file GraftUKFVelocity.cpp.

void GraftUKFVelocity::setBeta ( const double  beta)

Definition at line 323 of file GraftUKFVelocity.cpp.

void GraftUKFVelocity::setInitialCovariance ( std::vector< double > &  P)

Definition at line 279 of file GraftUKFVelocity.cpp.

void GraftUKFVelocity::setKappa ( const double  kappa)

Definition at line 319 of file GraftUKFVelocity.cpp.

void GraftUKFVelocity::setProcessNoise ( std::vector< double > &  Q)

Definition at line 297 of file GraftUKFVelocity.cpp.

void GraftUKFVelocity::setTopics ( std::vector< boost::shared_ptr< GraftSensor > > &  topics)

Definition at line 275 of file GraftUKFVelocity.cpp.


Member Data Documentation

double GraftUKFVelocity::alpha_ [private]

Definition at line 89 of file GraftUKFVelocity.h.

double GraftUKFVelocity::beta_ [private]

Definition at line 90 of file GraftUKFVelocity.h.

Matrix<double, SIZE, 1> GraftUKFVelocity::graft_control_ [private]

Definition at line 81 of file GraftUKFVelocity.h.

Matrix<double, SIZE, SIZE> GraftUKFVelocity::graft_covariance_ [private]

Definition at line 82 of file GraftUKFVelocity.h.

Matrix<double, SIZE, 1> GraftUKFVelocity::graft_state_ [private]

Definition at line 80 of file GraftUKFVelocity.h.

double GraftUKFVelocity::kappa_ [private]

Definition at line 91 of file GraftUKFVelocity.h.

Definition at line 87 of file GraftUKFVelocity.h.

Definition at line 86 of file GraftUKFVelocity.h.

Matrix<double, SIZE, SIZE> GraftUKFVelocity::Q_ [private]

Definition at line 84 of file GraftUKFVelocity.h.

std::vector<boost::shared_ptr<GraftSensor> > GraftUKFVelocity::topics_ [private]

Definition at line 93 of file GraftUKFVelocity.h.


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


graft
Author(s): Chad Rockey
autogenerated on Sat Jun 8 2019 10:26:16