Public Types | Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
cartographer::kalman_filter::PoseTracker Class Reference

#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::OdometryStatesodometry_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_
 

Detailed Description

Definition at line 58 of file pose_tracker.h.

Member Typedef Documentation

Definition at line 76 of file pose_tracker.h.

Definition at line 73 of file pose_tracker.h.

Definition at line 74 of file pose_tracker.h.

Definition at line 75 of file pose_tracker.h.

Member Enumeration Documentation

anonymous enum
Enumerator
kMapPositionX 
kMapPositionY 
kMapPositionZ 
kMapOrientationX 
kMapOrientationY 
kMapOrientationZ 
kMapVelocityX 
kMapVelocityY 
kMapVelocityZ 
kDimension 

Definition at line 60 of file pose_tracker.h.

Constructor & Destructor Documentation

cartographer::kalman_filter::PoseTracker::PoseTracker ( const proto::PoseTrackerOptions &  options,
common::Time  time 
)

Definition at line 153 of file pose_tracker.cc.

cartographer::kalman_filter::PoseTracker::~PoseTracker ( )
virtual

Definition at line 161 of file pose_tracker.cc.

Member Function Documentation

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.

const PoseTracker::Distribution cartographer::kalman_filter::PoseTracker::BuildModelNoise ( double  delta_t) const
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.

Eigen::Quaterniond cartographer::kalman_filter::PoseTracker::gravity_orientation ( ) const
inline

Definition at line 111 of file pose_tracker.h.

PoseTracker::Distribution cartographer::kalman_filter::PoseTracker::KalmanFilterInit ( )
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.

void cartographer::kalman_filter::PoseTracker::Predict ( common::Time  time)
private

Definition at line 208 of file pose_tracker.cc.

transform::Rigid3d cartographer::kalman_filter::PoseTracker::RigidFromState ( const PoseTracker::State state)
private

Definition at line 287 of file pose_tracker.cc.

common::Time cartographer::kalman_filter::PoseTracker::time ( ) const
inline

Definition at line 104 of file pose_tracker.h.

Member Data Documentation

mapping::ImuTracker cartographer::kalman_filter::PoseTracker::imu_tracker_
private

Definition at line 133 of file pose_tracker.h.

KalmanFilter cartographer::kalman_filter::PoseTracker::kalman_filter_
private

Definition at line 132 of file pose_tracker.h.

mapping::OdometryStateTracker cartographer::kalman_filter::PoseTracker::odometry_state_tracker_
private

Definition at line 134 of file pose_tracker.h.

const proto::PoseTrackerOptions cartographer::kalman_filter::PoseTracker::options_
private

Definition at line 130 of file pose_tracker.h.

common::Time cartographer::kalman_filter::PoseTracker::time_
private

Definition at line 131 of file pose_tracker.h.


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


cartographer
Author(s):
autogenerated on Mon Jun 10 2019 12:51:39