#include <pose_tracker.h>
Public Types | |
enum | { kMapPositionX = 0, kMapPositionY, kMapPositionZ, kMapOrientationX, kMapOrientationY, kMapOrientationZ, kMapVelocityX, kMapVelocityY, kMapVelocityZ, kDimension } |
using | Distribution = GaussianDistribution< double, kDimension > |
using | KalmanFilter = UnscentedKalmanFilter< double, kDimension > |
using | State = KalmanFilter::StateType |
using | StateCovariance = Eigen::Matrix< double, kDimension, kDimension > |
Public Member Functions | |
void | AddImuAngularVelocityObservation (common::Time time, const Eigen::Vector3d &imu_angular_velocity) |
void | AddImuLinearAccelerationObservation (common::Time time, const Eigen::Vector3d &imu_linear_acceleration) |
void | AddOdometerPoseObservation (common::Time time, const transform::Rigid3d &pose, const PoseCovariance &covariance) |
void | AddPoseObservation (common::Time time, const transform::Rigid3d &pose, const PoseCovariance &covariance) |
Distribution | GetBelief (common::Time time) |
void | GetPoseEstimateMeanAndCovariance (common::Time time, transform::Rigid3d *pose, PoseCovariance *covariance) |
Eigen::Quaterniond | gravity_orientation () const |
const mapping::OdometryStateTracker::OdometryStates & | odometry_states () const |
PoseTracker (const proto::PoseTrackerOptions &options, common::Time time) | |
common::Time | time () const |
virtual | ~PoseTracker () |
Private Member Functions | |
const Distribution | BuildModelNoise (double delta_t) const |
void | Predict (common::Time time) |
transform::Rigid3d | RigidFromState (const PoseTracker::State &state) |
Static Private Member Functions | |
static Distribution | KalmanFilterInit () |
Private Attributes | |
mapping::ImuTracker | imu_tracker_ |
KalmanFilter | kalman_filter_ |
mapping::OdometryStateTracker | odometry_state_tracker_ |
const proto::PoseTrackerOptions | options_ |
common::Time | time_ |
Definition at line 58 of file pose_tracker.h.
using cartographer::kalman_filter::PoseTracker::Distribution = GaussianDistribution<double, kDimension> |
Definition at line 76 of file pose_tracker.h.
using cartographer::kalman_filter::PoseTracker::KalmanFilter = UnscentedKalmanFilter<double, kDimension> |
Definition at line 73 of file pose_tracker.h.
Definition at line 74 of file pose_tracker.h.
using cartographer::kalman_filter::PoseTracker::StateCovariance = Eigen::Matrix<double, kDimension, kDimension> |
Definition at line 75 of file pose_tracker.h.
anonymous enum |
Enumerator | |
---|---|
kMapPositionX | |
kMapPositionY | |
kMapPositionZ | |
kMapOrientationX | |
kMapOrientationY | |
kMapOrientationZ | |
kMapVelocityX | |
kMapVelocityY | |
kMapVelocityZ | |
kDimension |
Definition at line 60 of file pose_tracker.h.
cartographer::kalman_filter::PoseTracker::PoseTracker | ( | const proto::PoseTrackerOptions & | options, |
common::Time | time | ||
) |
Definition at line 153 of file pose_tracker.cc.
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virtual |
Definition at line 161 of file pose_tracker.cc.
void cartographer::kalman_filter::PoseTracker::AddImuAngularVelocityObservation | ( | common::Time | time, |
const Eigen::Vector3d & | imu_angular_velocity | ||
) |
Definition at line 230 of file pose_tracker.cc.
void cartographer::kalman_filter::PoseTracker::AddImuLinearAccelerationObservation | ( | common::Time | time, |
const Eigen::Vector3d & | imu_linear_acceleration | ||
) |
Definition at line 223 of file pose_tracker.cc.
void cartographer::kalman_filter::PoseTracker::AddOdometerPoseObservation | ( | common::Time | time, |
const transform::Rigid3d & | pose, | ||
const PoseCovariance & | covariance | ||
) |
Definition at line 264 of file pose_tracker.cc.
void cartographer::kalman_filter::PoseTracker::AddPoseObservation | ( | common::Time | time, |
const transform::Rigid3d & | pose, | ||
const PoseCovariance & | covariance | ||
) |
Definition at line 237 of file pose_tracker.cc.
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private |
Definition at line 184 of file pose_tracker.cc.
PoseTracker::Distribution cartographer::kalman_filter::PoseTracker::GetBelief | ( | common::Time | time | ) |
Definition at line 163 of file pose_tracker.cc.
void cartographer::kalman_filter::PoseTracker::GetPoseEstimateMeanAndCovariance | ( | common::Time | time, |
transform::Rigid3d * | pose, | ||
PoseCovariance * | covariance | ||
) |
Definition at line 168 of file pose_tracker.cc.
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inline |
Definition at line 111 of file pose_tracker.h.
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staticprivate |
Definition at line 144 of file pose_tracker.cc.
const mapping::OdometryStateTracker::OdometryStates & cartographer::kalman_filter::PoseTracker::odometry_states | ( | ) | const |
Definition at line 283 of file pose_tracker.cc.
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private |
Definition at line 208 of file pose_tracker.cc.
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private |
Definition at line 287 of file pose_tracker.cc.
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inline |
Definition at line 104 of file pose_tracker.h.
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private |
Definition at line 133 of file pose_tracker.h.
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private |
Definition at line 132 of file pose_tracker.h.
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private |
Definition at line 134 of file pose_tracker.h.
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private |
Definition at line 130 of file pose_tracker.h.
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private |
Definition at line 131 of file pose_tracker.h.