Namespaces
namespace	FilterUtilities
namespace	NavsatConversions
namespace	RosFilterUtilities
Classes
struct	CallbackData
class	Ekf
	Extended Kalman filter class. More...
class	FilterBase
struct	FilterState
	Structure used for storing and comparing filter states. More...
struct	Measurement
	Structure used for storing and comparing measurements (for priority queues) More...
class	NavSatTransform
class	RosFilter
class	Ukf
	Unscented Kalman filter class. More...
Typedefs
typedef std::deque < FilterStatePtr >	FilterStateHistoryDeque
typedef boost::shared_ptr < FilterState >	FilterStatePtr
typedef std::deque < MeasurementPtr >	MeasurementHistoryDeque
typedef boost::shared_ptr < Measurement >	MeasurementPtr
typedef std::priority_queue < MeasurementPtr, std::vector < MeasurementPtr > , Measurement >	MeasurementQueue
typedef RosFilter< Ekf >	RosEkf
typedef RosFilter< Ukf >	RosUkf
Enumerations
enum	ControlMembers { ControlMemberVx, ControlMemberVy, ControlMemberVz, ControlMemberVroll, ControlMemberVpitch, ControlMemberVyaw }
	Enumeration that defines the control vector. More...
enum	StateMembers { StateMemberX = 0, StateMemberY, StateMemberZ, StateMemberRoll, StateMemberPitch, StateMemberYaw, StateMemberVx, StateMemberVy, StateMemberVz, StateMemberVroll, StateMemberVpitch, StateMemberVyaw, StateMemberAx, StateMemberAy, StateMemberAz }
	Enumeration that defines the state vector. More...
Variables
const int	ACCELERATION_SIZE = 3
const int	ORIENTATION_OFFSET = StateMemberRoll
const int	ORIENTATION_SIZE = 3
const int	ORIENTATION_V_OFFSET = StateMemberVroll
const double	PI = 3.141592653589793
	Common variables.
const int	POSE_SIZE = 6
	Pose and twist messages each contain six variables.
const int	POSITION_A_OFFSET = StateMemberAx
const int	POSITION_OFFSET = StateMemberX
const int	POSITION_SIZE = 3
const int	POSITION_V_OFFSET = StateMemberVx
const int	STATE_SIZE = 15
	Global constants that define our state vector size and offsets to groups of values within that state.
const double	TAU = 6.283185307179587
const int	TWIST_SIZE = 6

Typedef Documentation

typedef std::deque<FilterStatePtr> RobotLocalization::FilterStateHistoryDeque

Definition at line 102 of file ros_filter.h.

typedef boost::shared_ptr<FilterState> RobotLocalization::FilterStatePtr

Definition at line 148 of file filter_base.h.

typedef std::deque<MeasurementPtr> RobotLocalization::MeasurementHistoryDeque

Definition at line 101 of file ros_filter.h.

typedef boost::shared_ptr<Measurement> RobotLocalization::MeasurementPtr

Definition at line 109 of file filter_base.h.

typedef std::priority_queue<MeasurementPtr, std::vector<MeasurementPtr>, Measurement> RobotLocalization::MeasurementQueue

Definition at line 100 of file ros_filter.h.

typedef RosFilter<Ekf> RobotLocalization::RosEkf

Definition at line 43 of file ros_filter_types.h.

typedef RosFilter<Ukf> RobotLocalization::RosUkf

Definition at line 44 of file ros_filter_types.h.

Enumeration Type Documentation

enum RobotLocalization::ControlMembers

Enumeration that defines the control vector.

Enumerator:

ControlMemberVx
ControlMemberVy
ControlMemberVz
ControlMemberVroll
ControlMemberVpitch
ControlMemberVyaw

Definition at line 62 of file filter_common.h.

enum RobotLocalization::StateMembers

Enumeration that defines the state vector.

Enumerator:

StateMemberX
StateMemberY
StateMemberZ
StateMemberRoll
StateMemberPitch
StateMemberYaw
StateMemberVx
StateMemberVy
StateMemberVz
StateMemberVroll
StateMemberVpitch
StateMemberVyaw
StateMemberAx
StateMemberAy
StateMemberAz