#include <ground_vehicle_model.h>

Inheritance diagram for hector_pose_estimation::GroundVehicleModel:

[legend]

Public Member Functions
virtual void	getDerivative (StateVector &x_dot, const State &state)

virtual void	getPrior (State &state)

virtual void	getStateJacobian (SystemMatrix &A, const State &state, bool init=true)

virtual SystemStatus	getStatusFlags (const State &state)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GroundVehicleModel ()

virtual bool	limitState (State &state)

virtual	~GroundVehicleModel ()

Public Member Functions inherited from hector_pose_estimation::GenericQuaternionSystemModel
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GenericQuaternionSystemModel ()

virtual void	getSystemNoise (NoiseVariance &Q, const State &state, bool init=true)

virtual bool	init (PoseEstimation &estimator, System &system, State &state)

bool	prepareUpdate (State &state, double dt)

virtual	~GenericQuaternionSystemModel ()

Public Member Functions inherited from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >
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)

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_< GenericQuaternionSystemModel, Dynamic, Dynamic >
GenericQuaternionSystemModel *	derived ()

const GenericQuaternionSystemModel *	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	~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 ()

Protected Attributes
double	base_height_

Matrix_< 3, 3 >::type	dR3

double	gain_

double	max_height_

double	min_height_

Protected Attributes inherited from hector_pose_estimation::GenericQuaternionSystemModel
ColumnVector3	acceleration_nav_

double	acceleration_stddev_

boost::shared_ptr< Accelerometer >	accelerometer_

double	angular_acceleration_stddev_

ForceInput::Ptr	force_input_

AliasT< double >	gravity_

boost::shared_ptr< Gyro >	gyro_

boost::shared_ptr< ImuInput >	imu_

RateInput::Ptr	rate_input_

ColumnVector3	rate_nav_

double	rate_stddev_

TorqueInput::Ptr	torque_input_

double	velocity_stddev_

Protected Attributes inherited from hector_pose_estimation::Model
ParameterList	parameters_

Additional Inherited Members
Public Types inherited from hector_pose_estimation::SystemModel
enum	SystemTypeEnum { UNKNOWN_SYSTEM_TYPE, TIME_DISCRETE, TIME_CONTINUOUS }

Protected Types inherited from hector_pose_estimation::GenericQuaternionSystemModel
typedef Input_< 3 >	ForceInput

typedef Input_< 3 >	RateInput

typedef Input_< 3 >	TorqueInput

Detailed Description

Definition at line 48 of file ground_vehicle_model.h.

Constructor & Destructor Documentation

hector_pose_estimation::GroundVehicleModel::GroundVehicleModel ( )

Definition at line 39 of file ground_vehicle_model.cpp.

hector_pose_estimation::GroundVehicleModel::~GroundVehicleModel ( )

virtual

Definition at line 57 of file ground_vehicle_model.cpp.

Member Function Documentation

void hector_pose_estimation::GroundVehicleModel::getDerivative	(	StateVector &	x_dot,
		const State &	state
	)

virtual

Reimplemented from hector_pose_estimation::GenericQuaternionSystemModel.

Definition at line 67 of file ground_vehicle_model.cpp.

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

virtual

Reimplemented from hector_pose_estimation::GenericQuaternionSystemModel.

Definition at line 61 of file ground_vehicle_model.cpp.

void hector_pose_estimation::GroundVehicleModel::getStateJacobian	(	SystemMatrix &	A,
		const State &	state,
		bool	init = `true`
	)

virtual

Reimplemented from hector_pose_estimation::GenericQuaternionSystemModel.

Definition at line 82 of file ground_vehicle_model.cpp.

SystemStatus hector_pose_estimation::GroundVehicleModel::getStatusFlags ( const State & state )

virtual

Reimplemented from hector_pose_estimation::GenericQuaternionSystemModel.

Definition at line 98 of file ground_vehicle_model.cpp.

bool hector_pose_estimation::GroundVehicleModel::limitState ( State & state )

virtual

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 108 of file ground_vehicle_model.cpp.

Member Data Documentation

double hector_pose_estimation::GroundVehicleModel::base_height_

protected

Definition at line 68 of file ground_vehicle_model.h.

Matrix_<3,3>::type hector_pose_estimation::GroundVehicleModel::dR3

protected

Definition at line 69 of file ground_vehicle_model.h.

double hector_pose_estimation::GroundVehicleModel::gain_

protected

Definition at line 67 of file ground_vehicle_model.h.

double hector_pose_estimation::GroundVehicleModel::max_height_

protected

Definition at line 68 of file ground_vehicle_model.h.

double hector_pose_estimation::GroundVehicleModel::min_height_

protected

Definition at line 68 of file ground_vehicle_model.h.

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation