Inheritance diagram for jsk_robot_startup.ParticleOdometry.ParticleOdometry:

Public Member Functions
def	__init__
	initialize
def	calc_odometry
	top odometry calculations
def	calculate_weighting_likelihood
def	convert_list_to_pose
def	convert_pose_to_list
	utils
def	execute
def	guess_normal_distribution
def	imu_callback
def	imu_error_pdf
def	init_transform_callback
def	initial_distribution
def	initialize_odometry
def	make_histogram_array
def	measure_odom_callback
def	measurement_pdf
def	publish_odometry
def	resampling
def	sampling
	particle filter functions input: particles(list of pose), source_odom(control input) output: list of sampled particles(pose)
def	source_odom_callback
	callback functions
def	state_transition_probability_rvs
	probability functions input: u(twist), u_cov(twist.covariance) output: sampled velocity
def	transform_twist_with_covariance_to_global
def	update
def	update_diagnostics
def	update_pose_with_covariance
def	weighting
def	z_error_pdf
Public Attributes
	base_link_frame
	broadcast
	diag_pub
	imu
	imu_rotation
	imu_sub
	init_sigma
	init_transform_sub
	invert_tf
	lock
	measure_odom
	measure_odom_sub
	measurement_updated
	min_weight
	odom
	odom_frame
	odom_init_frame
	particle_num
	particles
	pitch_error_sigma
	prev_rpy
	pub
	pub_hist
	publish_histogram
	publish_tf
	r
	rate
	roll_error_sigma
	source_odom
	source_odom_sub
	use_imu
	use_imu_yaw
	valid_particle_num
	weights
	yaw_error_sigma
	z_error_sigma

Detailed Description

Definition at line 22 of file ParticleOdometry.py.

Constructor & Destructor Documentation

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.__init__ ( self )

initialize

Definition at line 24 of file ParticleOdometry.py.

Member Function Documentation

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.calc_odometry ( self )

top odometry calculations

Definition at line 194 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.calculate_weighting_likelihood	(	self,
		prt,
		measurement_pose_array,
		measurement_cov_matrix_inv
	)

Definition at line 127 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.convert_list_to_pose	(	self,
		lst
	)

Definition at line 268 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.convert_pose_to_list	(	self,
		pose
	)

utils

Definition at line 264 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.execute ( self )

Definition at line 257 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.guess_normal_distribution	(	self,
		particles,
		weights
	)

Definition at line 271 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.imu_callback	(	self,
		msg
	)

Definition at line 238 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.imu_error_pdf	(	self,
		prt
	)

Definition at line 172 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.init_transform_callback	(	self,
		msg
	)

Definition at line 234 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.initial_distribution	(	self,
		init_pose
	)

Definition at line 189 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.initialize_odometry	(	self,
		trans,
		rot
	)

Definition at line 78 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.make_histogram_array	(	self,
		particles,
		stamp
	)

Definition at line 309 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.measure_odom_callback	(	self,
		msg
	)

Definition at line 229 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.measurement_pdf	(	self,
		x,
		measure_mean_array,
		measure_cov_matrix_inv
	)

Definition at line 161 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.publish_odometry ( self )

Definition at line 205 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.resampling	(	self,
		particles,
		weights
	)

Definition at line 137 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.sampling	(	self,
		particles,
		source_odom
	)

particle filter functions input: particles(list of pose), source_odom(control input) output: list of sampled particles(pose)

Definition at line 100 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.source_odom_callback	(	self,
		msg
	)

callback functions

Definition at line 225 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.state_transition_probability_rvs	(	self,
		u,
		u_cov
	)

probability functions input: u(twist), u_cov(twist.covariance) output: sampled velocity

Definition at line 154 of file ParticleOdometry.py.

def jsk_robot_startup.ParticleOdometry.ParticleOdometry.transform_twist_with_covariance_to_global	(	self,
		pose_with_covariance,
		twist_with_covariance
	)