#include <poseupdate.h>
Classes | |
class | Update |
Public Member Functions | |
PoseUpdate (const std::string &name="poseupdate") | |
virtual bool | updateImpl (const MeasurementUpdate &update) |
virtual | ~PoseUpdate () |
Public Member Functions inherited from hector_pose_estimation::Measurement | |
virtual bool | active (const State &state) |
virtual void | add (const MeasurementUpdate &update) |
virtual void | cleanup () |
void | disable () |
void | enable () |
bool | enabled () const |
virtual Filter * | filter () const |
virtual int | getDimension () const |
double | getMinInterval () const |
virtual MeasurementModel * | getModel () const |
virtual const std::string & | getName () const |
virtual SystemStatus | getStatusFlags () const |
double | getTimeout () const |
void | increase_timer (double dt) |
virtual bool | init (PoseEstimation &estimator, State &state) |
Measurement (const std::string &name) | |
virtual ParameterList & | parameters () |
virtual const ParameterList & | parameters () const |
virtual bool | process () |
virtual void | reset (State &state) |
virtual void | setFilter (Filter *filter) |
void | setMinInterval (double min_interval) |
void | setName (const std::string &name) |
void | setTimeout (double timeout) |
bool | timedout () const |
virtual bool | update (const MeasurementUpdate &update) |
virtual | ~Measurement () |
Protected Member Functions | |
virtual Queue & | queue () |
Protected Member Functions inherited from hector_pose_estimation::Measurement | |
virtual void | onCleanup () |
virtual bool | onInit (PoseEstimation &estimator) |
virtual void | onReset () |
Protected Attributes | |
Queue_< Update > | queue_ |
Protected Attributes inherited from hector_pose_estimation::Measurement | |
bool | enabled_ |
Filter * | filter_ |
double | min_interval_ |
std::string | name_ |
ParameterList | parameters_ |
SystemStatus | status_flags_ |
double | timeout_ |
double | timer_ |
Private Types | |
typedef boost::function< void(State &state, const ColumnVector &diff)> | JumpFunction |
Private Member Functions | |
double | calculateOmega (const SymmetricMatrix &Ix, const SymmetricMatrix &Iy) |
template<typename MeasurementVector , typename MeasurementMatrix , typename NoiseVariance > | |
double | updateInternal (State &state, const NoiseVariance &Iy, const MeasurementVector &error, const MeasurementMatrix &H, const std::string &text, const double max_error=0.0, JumpFunction jump_function=JumpFunction()) |
Private Attributes | |
double | fixed_alpha_ |
double | fixed_angular_rate_xy_stddev_ |
double | fixed_angular_rate_z_stddev_ |
double | fixed_beta_ |
double | fixed_position_xy_stddev_ |
double | fixed_position_z_stddev_ |
double | fixed_velocity_xy_stddev_ |
double | fixed_velocity_z_stddev_ |
double | fixed_yaw_stddev_ |
bool | interpret_covariance_as_information_matrix_ |
bool | jump_on_max_error_ |
double | max_angular_rate_xy_error_ |
double | max_angular_rate_z_error_ |
double | max_position_xy_error_ |
double | max_position_z_error_ |
double | max_time_difference_ |
double | max_velocity_xy_error_ |
double | max_velocity_z_error_ |
double | max_yaw_error_ |
PositionXYModel | position_xy_model_ |
PositionZModel | position_z_model_ |
bool | predict_pose_ |
TwistModel | twist_model_ |
YawModel | yaw_model_ |
Additional Inherited Members | |
Static Public Member Functions inherited from hector_pose_estimation::Measurement | |
template<class ConcreteModel > | |
static boost::shared_ptr< Measurement_< ConcreteModel > > | create (ConcreteModel *model, const std::string &name) |
Definition at line 82 of file poseupdate.h.
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private |
Definition at line 133 of file poseupdate.h.
hector_pose_estimation::PoseUpdate::PoseUpdate | ( | const std::string & | name = "poseupdate" | ) |
Definition at line 38 of file poseupdate.cpp.
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virtual |
Definition at line 91 of file poseupdate.cpp.
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private |
Definition at line 352 of file poseupdate.cpp.
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inlineprotectedvirtual |
Implements hector_pose_estimation::Measurement.
Definition at line 141 of file poseupdate.h.
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virtual |
Reimplemented from hector_pose_estimation::Measurement.
Definition at line 95 of file poseupdate.cpp.
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private |
Definition at line 359 of file poseupdate.cpp.
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private |
Definition at line 109 of file poseupdate.h.
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private |
Definition at line 121 of file poseupdate.h.
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private |
Definition at line 122 of file poseupdate.h.
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private |
Definition at line 109 of file poseupdate.h.
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private |
Definition at line 115 of file poseupdate.h.
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private |
Definition at line 116 of file poseupdate.h.
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private |
Definition at line 119 of file poseupdate.h.
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private |
Definition at line 120 of file poseupdate.h.
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private |
Definition at line 117 of file poseupdate.h.
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private |
Definition at line 110 of file poseupdate.h.
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private |
Definition at line 113 of file poseupdate.h.
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private |
Definition at line 130 of file poseupdate.h.
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private |
Definition at line 131 of file poseupdate.h.
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private |
Definition at line 124 of file poseupdate.h.
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private |
Definition at line 125 of file poseupdate.h.
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private |
Definition at line 111 of file poseupdate.h.
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private |
Definition at line 128 of file poseupdate.h.
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private |
Definition at line 129 of file poseupdate.h.
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private |
Definition at line 126 of file poseupdate.h.
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private |
Definition at line 104 of file poseupdate.h.
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private |
Definition at line 105 of file poseupdate.h.
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private |
Definition at line 112 of file poseupdate.h.
Definition at line 140 of file poseupdate.h.
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private |
Definition at line 107 of file poseupdate.h.
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private |
Definition at line 106 of file poseupdate.h.