hector_pose_estimation::AccelerometerModel Class Reference

#include <imu_model.h>

Inheritance diagram for hector_pose_estimation::AccelerometerModel:

Public Member Functions
	AccelerometerModel ()
ColumnVector3	getAcceleration (const ImuInput::AccelerationType &imu_acceleration, const State &state) const
void	getAccelerationJacobian (SystemMatrixBlock &C, const State &state, bool init=true)
void	getAccelerationNoise (CovarianceBlock Q, const State &state, bool init=true)
ColumnVector3	getError () const
void	getPrior (State &state)
void	getSystemNoise (NoiseVariance &Q, const State &state, bool init=true)
bool	init (PoseEstimation &estimator, System &system, State &state)
virtual	~AccelerometerModel ()
Public Member Functions inherited from hector_pose_estimation::TimeContinuousSystemModel_< AccelerometerModel, 3 >
virtual void	getDerivative (StateVector &x_dot, const State &state)
void	getExpectedDiff (StateVector &x_diff, const State &state, double dt)
virtual void	getInputJacobian (InputMatrix &B, const State &state, bool init=true)
void	getInputJacobian (InputMatrix &B, const State &state, double dt, bool init=true)
virtual void	getStateJacobian (SystemMatrix &A, const State &state, bool init=true)
void	getStateJacobian (SystemMatrix &A, const State &state, double dt, bool init=true)
void	getSystemNoise (NoiseVariance &Q, const State &state, double dt, bool init=true)
virtual SystemModel::SystemTypeEnum	getSystemType () const
	TimeContinuousSystemModel_ ()
virtual	~TimeContinuousSystemModel_ ()
Public Member Functions inherited from hector_pose_estimation::SystemModel_< AccelerometerModel, _VectorDimension, _VectorDimension >
AccelerometerModel *	derived ()
const AccelerometerModel *	derived () const
virtual	~SystemModel_ ()
Public Member Functions inherited from hector_pose_estimation::SystemModel
virtual bool	active (const State &state)
virtual void	afterUpdate (State &state)
virtual SystemStatus	getStatusFlags (const State &state)
virtual bool	limitState (State &state)
virtual bool	prepareUpdate (State &state, double dt)
virtual	~SystemModel ()
Public Member Functions inherited from hector_pose_estimation::Model
virtual void	cleanup ()
ParameterList &	parameters ()
const ParameterList &	parameters () const
virtual void	reset (State &state)
virtual	~Model ()

Private Attributes
double	acceleration_drift_
double	acceleration_stddev_
SubState::Ptr	bias_

Additional Inherited Members
Public Types inherited from hector_pose_estimation::SystemModel
enum	SystemTypeEnum { UNKNOWN_SYSTEM_TYPE, TIME_DISCRETE, TIME_CONTINUOUS }
Protected Attributes inherited from hector_pose_estimation::Model
ParameterList	parameters_

Detailed Description

Definition at line 65 of file imu_model.h.

Constructor & Destructor Documentation

hector_pose_estimation::AccelerometerModel::AccelerometerModel

(

)

Definition at line 102 of file imu_model.cpp.

hector_pose_estimation::AccelerometerModel::~AccelerometerModel ( )

virtual

Definition at line 110 of file imu_model.cpp.

Member Function Documentation

ColumnVector3 hector_pose_estimation::AccelerometerModel::getAcceleration	(	const ImuInput::AccelerationType &	imu_acceleration,
		const State &	state
	)		const

Definition at line 131 of file imu_model.cpp.

void hector_pose_estimation::AccelerometerModel::getAccelerationJacobian	(	SystemMatrixBlock &	C,
		const State &	state,
		bool	init = true
	)

Definition at line 136 of file imu_model.cpp.

void hector_pose_estimation::AccelerometerModel::getAccelerationNoise	(	CovarianceBlock	Q,
		const State &	state,
		bool	init = true
	)

Definition at line 142 of file imu_model.cpp.

ColumnVector3 hector_pose_estimation::AccelerometerModel::getError ( ) const

inline

Definition at line 76 of file imu_model.h.

void hector_pose_estimation::AccelerometerModel::getPrior ( State &  state )

virtual

Reimplemented from hector_pose_estimation::SystemModel_< AccelerometerModel, _VectorDimension, _VectorDimension >.

Definition at line 119 of file imu_model.cpp.

void hector_pose_estimation::AccelerometerModel::getSystemNoise ( NoiseVariance &  Q, const State &  state, bool  init = true  )

virtual

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< AccelerometerModel, 3 >.

Definition at line 124 of file imu_model.cpp.

bool hector_pose_estimation::AccelerometerModel::init ( PoseEstimation &  estimator, System &  system, State &  state  )

virtual

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 113 of file imu_model.cpp.

Member Data Documentation

double hector_pose_estimation::AccelerometerModel::acceleration_drift_

private

Definition at line 88 of file imu_model.h.

double hector_pose_estimation::AccelerometerModel::acceleration_stddev_

private

Definition at line 87 of file imu_model.h.

SubState::Ptr hector_pose_estimation::AccelerometerModel::bias_

private

Definition at line 86 of file imu_model.h.

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

• imu_model.h
• imu_model.cpp