#include <gravity.h>

Inheritance diagram for hector_pose_estimation::GravityModel:

Public Member Functions
virtual bool	active (const State &state)

virtual void	getExpectedValue (MeasurementVector &y_pred, const State &state)

virtual double	getGravity () const

virtual void	getMeasurementNoise (NoiseVariance &R, const State &, bool init)

virtual void	getStateJacobian (MeasurementMatrix &C, const State &state, bool init)

virtual SystemStatus	getStatusFlags ()

	GravityModel ()

virtual bool	init (PoseEstimation &estimator, Measurement &measurement, State &state)

virtual void	setGravity (double gravity)

virtual	~GravityModel ()

Public Member Functions inherited from hector_pose_estimation::MeasurementModel_< GravityModel, 3 >
GravityModel *	derived ()

const GravityModel *	derived () const

virtual int	getDimension () const

virtual const MeasurementVector *	getFixedMeasurementVector () const

virtual void	getInputJacobian (InputMatrix &D, const State &state, bool init=true)

virtual void	limitError (MeasurementVector &error)

virtual	~MeasurementModel_ ()

Public Member Functions inherited from hector_pose_estimation::MeasurementModel
virtual void	afterUpdate (State &state)

virtual bool	prepareUpdate (State &state, const MeasurementUpdate &update)

virtual	~MeasurementModel ()

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 ()

Protected Attributes
SubState_< 3 >::Ptr	bias_

MeasurementVector	gravity_

double	stddev_

std::string	use_bias_

Protected Attributes inherited from hector_pose_estimation::Model
ParameterList	parameters_

Detailed Description

Definition at line 36 of file gravity.h.

Constructor & Destructor Documentation

hector_pose_estimation::GravityModel::GravityModel ( )

Definition at line 37 of file gravity.cpp.

hector_pose_estimation::GravityModel::~GravityModel ( )

virtual

Definition at line 44 of file gravity.cpp.

Member Function Documentation

virtual bool hector_pose_estimation::GravityModel::active ( const State & state )

inlinevirtual

Reimplemented from hector_pose_estimation::MeasurementModel.

Definition at line 51 of file gravity.h.

void hector_pose_estimation::GravityModel::getExpectedValue	(	MeasurementVector &	y_pred,
		const State &	state
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< GravityModel, 3 >.

Definition at line 69 of file gravity.cpp.

virtual double hector_pose_estimation::GravityModel::getGravity ( ) const

inlinevirtual

Definition at line 49 of file gravity.h.

void hector_pose_estimation::GravityModel::getMeasurementNoise	(	NoiseVariance &	R,
		const State &	,
		bool	init
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< GravityModel, 3 >.

Definition at line 62 of file gravity.cpp.

void hector_pose_estimation::GravityModel::getStateJacobian	(	MeasurementMatrix &	C,
		const State &	state,
		bool	init
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< GravityModel, 3 >.

Definition at line 78 of file gravity.cpp.

virtual SystemStatus hector_pose_estimation::GravityModel::getStatusFlags ( )

inlinevirtual

Reimplemented from hector_pose_estimation::MeasurementModel.

Definition at line 52 of file gravity.h.

bool hector_pose_estimation::GravityModel::init	(	PoseEstimation &	estimator,
		Measurement &	measurement,
		State &	state
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel.

Definition at line 46 of file gravity.cpp.

virtual void hector_pose_estimation::GravityModel::setGravity ( double gravity )

inlinevirtual

Definition at line 48 of file gravity.h.

Member Data Documentation

SubState_<3>::Ptr hector_pose_estimation::GravityModel::bias_

protected

Definition at line 62 of file gravity.h.

MeasurementVector hector_pose_estimation::GravityModel::gravity_

protected

Definition at line 61 of file gravity.h.

double hector_pose_estimation::GravityModel::stddev_

protected

Definition at line 59 of file gravity.h.

std::string hector_pose_estimation::GravityModel::use_bias_

protected

Definition at line 60 of file gravity.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation