#include <imu_model.h>
Public Member Functions | |
| ColumnVector3 | getError () const |
| void | getPrior (State &state) |
| ColumnVector3 | getRate (const ImuInput::RateType &imu_rate, const State &state) const |
| void | getRateJacobian (SystemMatrixBlock &C, const State &state, bool init=true) |
| void | getRateNoise (CovarianceBlock Q, const State &state, bool init=true) |
| void | getSystemNoise (NoiseVariance &Q, const State &state, bool init=true) |
| GyroModel () | |
| bool | init (PoseEstimation &estimator, System &system, State &state) |
| virtual | ~GyroModel () |
Private Attributes | |
| SubState::Ptr | bias_ |
| double | rate_drift_ |
| double | rate_stddev_ |
Detailed Description
Definition at line 39 of file imu_model.h.
Constructor & Destructor Documentation
Definition at line 40 of file imu_model.cpp.
| hector_pose_estimation::GyroModel::~GyroModel | ( | ) | [virtual] |
Definition at line 48 of file imu_model.cpp.
Member Function Documentation
| ColumnVector3 hector_pose_estimation::GyroModel::getError | ( | ) | const [inline] |
Definition at line 50 of file imu_model.h.
| void hector_pose_estimation::GyroModel::getPrior | ( | State & | state | ) | [virtual] |
Reimplemented from hector_pose_estimation::SystemModel_< GyroModel, _VectorDimension, _VectorDimension >.
Definition at line 57 of file imu_model.cpp.
| ColumnVector3 hector_pose_estimation::GyroModel::getRate | ( | const ImuInput::RateType & | imu_rate, |
| const State & | state | ||
| ) | const |
Definition at line 69 of file imu_model.cpp.
| void hector_pose_estimation::GyroModel::getRateJacobian | ( | SystemMatrixBlock & | C, |
| const State & | state, | ||
| bool | init = true |
||
| ) |
Definition at line 74 of file imu_model.cpp.
| void hector_pose_estimation::GyroModel::getRateNoise | ( | CovarianceBlock | Q, |
| const State & | state, | ||
| bool | init = true |
||
| ) |
Definition at line 80 of file imu_model.cpp.
| void hector_pose_estimation::GyroModel::getSystemNoise | ( | NoiseVariance & | Q, |
| const State & | state, | ||
| bool | init = true |
||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GyroModel, 3 >.
Definition at line 62 of file imu_model.cpp.
| bool hector_pose_estimation::GyroModel::init | ( | PoseEstimation & | estimator, |
| System & | system, | ||
| State & | state | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::SystemModel.
Definition at line 51 of file imu_model.cpp.
Member Data Documentation
SubState::Ptr hector_pose_estimation::GyroModel::bias_ [private] |
Definition at line 60 of file imu_model.h.
double hector_pose_estimation::GyroModel::rate_drift_ [private] |
Definition at line 62 of file imu_model.h.
double hector_pose_estimation::GyroModel::rate_stddev_ [private] |
Definition at line 61 of file imu_model.h.
The documentation for this class was generated from the following files: