#include <state.h>

Inheritance diagram for hector_pose_estimation::State:

[legend]

Public Types
typedef SubState_< 3, 3 >	AccelerationStateType

typedef VectorBlock< Vector, 3 >	AccelerationType

typedef VectorBlock< const Vector, 3 >	ConstAccelerationType

typedef Block< const Covariance::Base >	ConstCovarianceBlock

typedef VectorBlock< const Vector, 4 >	ConstOrientationType

typedef VectorBlock< const Vector, 3 >	ConstPositionType

typedef VectorBlock< const Vector, 3 >	ConstRateType

typedef VectorBlock< const Vector >	ConstVectorSegment

typedef VectorBlock< const Vector, 3 >	ConstVelocityType

typedef SymmetricMatrix	Covariance

typedef Block< Covariance::Base >	CovarianceBlock

typedef SubState_< 4, 3 >	OrientationStateType

typedef VectorBlock< Vector, 4 >	OrientationType

typedef SubState_< 3, 3 >	PositionStateType

typedef VectorBlock< Vector, 3 >	PositionType

typedef SubState_< 3, 3 >	RateStateType

typedef VectorBlock< Vector, 3 >	RateType

typedef Matrix_< 3, 3 >::type	RotationMatrix

typedef std::vector< SubStatePtr >	SubStates

typedef Matrix	SystemMatrix

typedef boost::function< bool(SystemStatus &)>	SystemStatusCallback

typedef ColumnVector	Vector

typedef VectorBlock< Vector >	VectorSegment

typedef SubState_< 3, 3 >	VelocityStateType

typedef VectorBlock< Vector, 3 >	VelocityType

Public Member Functions
virtual const boost::shared_ptr< AccelerationStateType > &	acceleration () const

template<int SubVectorDimension, int SubCovarianceDimension>
boost::shared_ptr< SubState_< SubVectorDimension, SubCovarianceDimension > >	addSubState (const std::string &name=std::string())

template<int SubVectorDimension, int SubCovarianceDimension>
boost::shared_ptr< SubState_< SubVectorDimension, SubCovarianceDimension > >	addSubState (const Model *model, const std::string &name=std::string())

template<int _VectorDimension, int _CovarianceDimension>
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > >	addSubState (const std::string &name)

template<int _VectorDimension, int _CovarianceDimension>
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > >	addSubState (const Model *model, const std::string &name)

virtual void	addSystemStatusCallback (const SystemStatusCallback &callback)

virtual BaseState &	base ()

virtual const BaseState &	base () const

virtual ConstAccelerationType	getAcceleration () const

virtual const Covariance &	getCovariance () const

virtual IndexType	getCovarianceDimension () const

void	getEuler (double &roll, double &pitch, double &yaw) const

ColumnVector3	getEuler () const

virtual SystemStatus	getMeasurementStatus () const

virtual ConstOrientationType	getOrientation () const

virtual ConstPositionType	getPosition () const

virtual ConstRateType	getRate () const

void	getRotationMatrix (RotationMatrix &R) const

template<int Size>
VectorBlock< const Vector, Size >	getSegment (IndexType start) const

template<int SubVectorDimension, int SubCovarianceDimension>
boost::shared_ptr< SubState_< SubVectorDimension, SubCovarianceDimension > >	getSubState (const Model *model) const

template<int SubVectorDimension, int SubCovarianceDimension>
boost::shared_ptr< SubState_< SubVectorDimension, SubCovarianceDimension > >	getSubState (const std::string &name) const

template<int _VectorDimension, int _CovarianceDimension>
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > >	getSubState (const Model *model) const

template<int _VectorDimension, int _CovarianceDimension>
boost::shared_ptr< SubState_< _VectorDimension, _CovarianceDimension > >	getSubState (const std::string &name) const

const SubStates &	getSubStates () const

virtual SystemStatus	getSystemStatus () const

const ros::Time &	getTimestamp () const

virtual const Vector &	getVector () const

virtual IndexType	getVectorDimension () const

virtual ConstVelocityType	getVelocity () const

double	getYaw () const

virtual bool	inSystemStatus (SystemStatus test_status) const

virtual void	normalize ()

virtual const boost::shared_ptr< OrientationStateType > &	orientation () const

virtual Covariance &	P ()

virtual const boost::shared_ptr< PositionStateType > &	position () const

const State::RotationMatrix &	R () const

virtual const boost::shared_ptr< RateStateType > &	rate () const

virtual void	reset ()

template<typename Derived >
void	setAcceleration (const Eigen::MatrixBase< Derived > &acceleration)

virtual bool	setMeasurementStatus (SystemStatus new_status)

void	setOrientation (const Quaternion &orientation)

template<typename Derived >
void	setOrientation (const Eigen::MatrixBase< Derived > &orientation)

template<typename Derived >
void	setPosition (const Eigen::MatrixBase< Derived > &position)

template<typename Derived >
void	setRate (const Eigen::MatrixBase< Derived > &rate)

void	setRollPitch (const Quaternion &orientation)

void	setRollPitch (ScalarType roll, ScalarType pitch)

virtual bool	setSystemStatus (SystemStatus new_status)

void	setTimestamp (const ros::Time &timestamp)

template<typename Derived >
void	setVelocity (const Eigen::MatrixBase< Derived > &velocity)

void	setYaw (const Quaternion &orientation)

void	setYaw (ScalarType yaw)

virtual void	update (const Vector &vector_update)

virtual void	updated ()

virtual bool	updateMeasurementStatus (SystemStatus set, SystemStatus clear)

virtual void	updateOrientation (const ColumnVector3 &rotation_vector)

virtual bool	updateSystemStatus (SystemStatus set, SystemStatus clear)

virtual bool	valid () const

virtual const boost::shared_ptr< VelocityStateType > &	velocity () const

virtual Vector &	x ()

virtual	~State ()

Protected Member Functions
AccelerationType	accelerationPart ()

void	accelerationSet ()

void	construct ()

OrientationType	orientationPart ()

void	orientationSet ()

PositionType	positionPart ()

void	positionSet ()

RateType	ratePart ()

void	rateSet ()

void	rollpitchSet ()

	State ()

VelocityType	velocityPart ()

void	velocitySet ()

void	yawSet ()

Protected Attributes
boost::shared_ptr< AccelerationStateType >	acceleration_

boost::shared_ptr< BaseState >	base_

Covariance	covariance_

Vector	fake_acceleration_

Vector	fake_orientation_

Vector	fake_position_

Vector	fake_rate_

Vector	fake_velocity_

SystemStatus	measurement_status_

boost::shared_ptr< OrientationStateType >	orientation_

boost::shared_ptr< PositionStateType >	position_

RotationMatrix	R_

bool	R_valid_

boost::shared_ptr< RateStateType >	rate_

std::vector< SystemStatusCallback >	status_callbacks_

SubStates	substates_

std::map< const Model *, SubStateWPtr >	substates_by_model_

std::map< std::string, SubStateWPtr >	substates_by_name_

SystemStatus	system_status_

ros::Time	timestamp_

Vector	vector_

boost::shared_ptr< VelocityStateType >	velocity_

Detailed Description

Definition at line 42 of file state.h.

Member Typedef Documentation

typedef SubState_<3,3> hector_pose_estimation::State::AccelerationStateType

Definition at line 65 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::AccelerationType

Definition at line 66 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstAccelerationType

Definition at line 67 of file state.h.

typedef Block<const Covariance::Base> hector_pose_estimation::State::ConstCovarianceBlock

Definition at line 51 of file state.h.

typedef VectorBlock<const Vector,4> hector_pose_estimation::State::ConstOrientationType

Definition at line 55 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstPositionType

Definition at line 61 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstRateType

Definition at line 58 of file state.h.

typedef VectorBlock<const Vector> hector_pose_estimation::State::ConstVectorSegment

Definition at line 50 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstVelocityType

Definition at line 64 of file state.h.

typedef SymmetricMatrix hector_pose_estimation::State::Covariance

Definition at line 45 of file state.h.

typedef Block<Covariance::Base> hector_pose_estimation::State::CovarianceBlock

Definition at line 49 of file state.h.

typedef SubState_<4,3> hector_pose_estimation::State::OrientationStateType

Definition at line 53 of file state.h.

typedef VectorBlock<Vector,4> hector_pose_estimation::State::OrientationType

Definition at line 54 of file state.h.

typedef SubState_<3,3> hector_pose_estimation::State::PositionStateType

Definition at line 59 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::PositionType

Definition at line 60 of file state.h.

typedef SubState_<3,3> hector_pose_estimation::State::RateStateType

Definition at line 56 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::RateType

Definition at line 57 of file state.h.

typedef Matrix_<3,3>::type hector_pose_estimation::State::RotationMatrix

Definition at line 71 of file state.h.

typedef std::vector<SubStatePtr> hector_pose_estimation::State::SubStates

Definition at line 69 of file state.h.

typedef Matrix hector_pose_estimation::State::SystemMatrix

Definition at line 46 of file state.h.

typedef boost::function<bool(SystemStatus&)> hector_pose_estimation::State::SystemStatusCallback

Definition at line 109 of file state.h.

typedef ColumnVector hector_pose_estimation::State::Vector

Definition at line 44 of file state.h.

typedef VectorBlock<Vector> hector_pose_estimation::State::VectorSegment

Definition at line 48 of file state.h.

typedef SubState_<3,3> hector_pose_estimation::State::VelocityStateType

Definition at line 62 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::VelocityType

Definition at line 63 of file state.h.

Constructor & Destructor Documentation

hector_pose_estimation::State::~State ( )

virtual

Definition at line 76 of file state.cpp.

hector_pose_estimation::State::State ( )

protected

Definition at line 74 of file state.cpp.

Member Function Documentation

virtual const boost::shared_ptr<AccelerationStateType>& hector_pose_estimation::State::acceleration ( ) const

inlinevirtual

Definition at line 116 of file state.h.

AccelerationType hector_pose_estimation::State::accelerationPart ( )

protected

void hector_pose_estimation::State::accelerationSet ( )

protected

template<int SubVectorDimension, int SubCovarianceDimension>

boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > hector_pose_estimation::State::addSubState ( const std::string & name = std::string() )

template<int SubVectorDimension, int SubCovarianceDimension>

boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > hector_pose_estimation::State::addSubState	(	const Model *	model,
		const std::string &	name = `std::string()`
	)

template<int _VectorDimension, int _CovarianceDimension>

boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > hector_pose_estimation::State::addSubState ( const std::string & name )

Definition at line 167 of file substate.h.

template<int _VectorDimension, int _CovarianceDimension>

boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > hector_pose_estimation::State::addSubState	(	const Model *	model,
		const std::string &	name
	)

Definition at line 172 of file substate.h.

void hector_pose_estimation::State::addSystemStatusCallback ( const SystemStatusCallback & callback )

virtual

Definition at line 249 of file state.cpp.

virtual BaseState& hector_pose_estimation::State::base ( )

inlinevirtual

Definition at line 85 of file state.h.

virtual const BaseState& hector_pose_estimation::State::base ( ) const

inlinevirtual

Definition at line 86 of file state.h.

void hector_pose_estimation::State::construct ( )

protected

Definition at line 78 of file state.cpp.

State::ConstAccelerationType hector_pose_estimation::State::getAcceleration ( ) const

virtual

Definition at line 120 of file state.cpp.

virtual const Covariance& hector_pose_estimation::State::getCovariance ( ) const

inlinevirtual

Definition at line 89 of file state.h.

virtual IndexType hector_pose_estimation::State::getCovarianceDimension ( ) const

inlinevirtual

Definition at line 77 of file state.h.

void hector_pose_estimation::State::getEuler	(	double &	roll,
		double &	pitch,
		double &	yaw
	)		const

Definition at line 145 of file state.cpp.

ColumnVector3 hector_pose_estimation::State::getEuler ( ) const

Definition at line 153 of file state.cpp.

virtual SystemStatus hector_pose_estimation::State::getMeasurementStatus ( ) const

inlinevirtual

Definition at line 101 of file state.h.

State::ConstOrientationType hector_pose_estimation::State::getOrientation ( ) const

virtual

Definition at line 116 of file state.cpp.

State::ConstPositionType hector_pose_estimation::State::getPosition ( ) const

virtual

Definition at line 118 of file state.cpp.

State::ConstRateType hector_pose_estimation::State::getRate ( ) const

virtual

Definition at line 117 of file state.cpp.

void hector_pose_estimation::State::getRotationMatrix ( RotationMatrix & R ) const

Definition at line 122 of file state.cpp.

template<int Size>

VectorBlock<const Vector, Size> hector_pose_estimation::State::getSegment ( IndexType start ) const

inline

Definition at line 90 of file state.h.

template<int SubVectorDimension, int SubCovarianceDimension>

boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > hector_pose_estimation::State::getSubState ( const Model * model ) const

template<int SubVectorDimension, int SubCovarianceDimension>

boost::shared_ptr<SubState_<SubVectorDimension,SubCovarianceDimension> > hector_pose_estimation::State::getSubState ( const std::string & name ) const

template<int _VectorDimension, int _CovarianceDimension>

boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > hector_pose_estimation::State::getSubState ( const Model * model ) const

Definition at line 152 of file substate.h.

template<int _VectorDimension, int _CovarianceDimension>

boost::shared_ptr<SubState_<_VectorDimension, _CovarianceDimension> > hector_pose_estimation::State::getSubState ( const std::string & name ) const

Definition at line 162 of file substate.h.

const SubStates& hector_pose_estimation::State::getSubStates ( ) const

inline

Definition at line 141 of file state.h.

virtual SystemStatus hector_pose_estimation::State::getSystemStatus ( ) const

inlinevirtual

Definition at line 100 of file state.h.

const ros::Time& hector_pose_estimation::State::getTimestamp ( ) const

inline

Definition at line 147 of file state.h.

virtual const Vector& hector_pose_estimation::State::getVector ( ) const

inlinevirtual

Definition at line 88 of file state.h.

virtual IndexType hector_pose_estimation::State::getVectorDimension ( ) const

inlinevirtual

Definition at line 76 of file state.h.

State::ConstVelocityType hector_pose_estimation::State::getVelocity ( ) const

virtual

Definition at line 119 of file state.cpp.

double hector_pose_estimation::State::getYaw ( ) const

Definition at line 139 of file state.cpp.

bool hector_pose_estimation::State::inSystemStatus ( SystemStatus test_status ) const

virtual

Definition at line 211 of file state.cpp.

void hector_pose_estimation::State::normalize ( )

virtual

Definition at line 255 of file state.cpp.

virtual const boost::shared_ptr<OrientationStateType>& hector_pose_estimation::State::orientation ( ) const

inlinevirtual

Definition at line 112 of file state.h.

OrientationType hector_pose_estimation::State::orientationPart ( )

protected

void hector_pose_estimation::State::orientationSet ( )

protected

virtual Covariance& hector_pose_estimation::State::P ( )

inlinevirtual

Definition at line 93 of file state.h.

virtual const boost::shared_ptr<PositionStateType>& hector_pose_estimation::State::position ( ) const

inlinevirtual

Definition at line 114 of file state.h.

PositionType hector_pose_estimation::State::positionPart ( )

protected

void hector_pose_estimation::State::positionSet ( )

protected

const State::RotationMatrix & hector_pose_estimation::State::R ( ) const

Definition at line 131 of file state.cpp.

virtual const boost::shared_ptr<RateStateType>& hector_pose_estimation::State::rate ( ) const

inlinevirtual

Definition at line 113 of file state.h.

RateType hector_pose_estimation::State::ratePart ( )

protected

void hector_pose_estimation::State::rateSet ( )

protected

void hector_pose_estimation::State::reset ( )

virtual

Definition at line 84 of file state.cpp.

void hector_pose_estimation::State::rollpitchSet ( )

protected

template<typename Derived >

void hector_pose_estimation::State::setAcceleration ( const Eigen::MatrixBase< Derived > & acceleration )

bool hector_pose_estimation::State::setMeasurementStatus ( SystemStatus new_status )

virtual

Definition at line 231 of file state.cpp.

void hector_pose_estimation::State::setOrientation ( const Quaternion & orientation )

Definition at line 262 of file state.cpp.

template<typename Derived >

void hector_pose_estimation::State::setOrientation ( const Eigen::MatrixBase< Derived > & orientation )

template<typename Derived >

void hector_pose_estimation::State::setPosition ( const Eigen::MatrixBase< Derived > & position )

template<typename Derived >

void hector_pose_estimation::State::setRate ( const Eigen::MatrixBase< Derived > & rate )

void hector_pose_estimation::State::setRollPitch ( const Quaternion & orientation )

Definition at line 267 of file state.cpp.

void hector_pose_estimation::State::setRollPitch	(	ScalarType	roll,
		ScalarType	pitch
	)

Definition at line 275 of file state.cpp.

bool hector_pose_estimation::State::setSystemStatus ( SystemStatus new_status )

virtual

Definition at line 215 of file state.cpp.

void hector_pose_estimation::State::setTimestamp ( const ros::Time & timestamp )

inline

Definition at line 148 of file state.h.

template<typename Derived >

void hector_pose_estimation::State::setVelocity ( const Eigen::MatrixBase< Derived > & velocity )

void hector_pose_estimation::State::setYaw ( const Quaternion & orientation )

Definition at line 281 of file state.cpp.

void hector_pose_estimation::State::setYaw ( ScalarType yaw )

Definition at line 288 of file state.cpp.

void hector_pose_estimation::State::update ( const Vector & vector_update )

virtual

Definition at line 160 of file state.cpp.

void hector_pose_estimation::State::updated ( )

virtual

Definition at line 110 of file state.cpp.

bool hector_pose_estimation::State::updateMeasurementStatus	(	SystemStatus	set,
		SystemStatus	clear
	)

virtual

Definition at line 245 of file state.cpp.

void hector_pose_estimation::State::updateOrientation ( const ColumnVector3 & rotation_vector )

virtual

Definition at line 195 of file state.cpp.

bool hector_pose_estimation::State::updateSystemStatus	(	SystemStatus	set,
		SystemStatus	clear
	)

virtual

Definition at line 241 of file state.cpp.

bool hector_pose_estimation::State::valid ( ) const

virtual

Definition at line 106 of file state.cpp.

virtual const boost::shared_ptr<VelocityStateType>& hector_pose_estimation::State::velocity ( ) const

inlinevirtual

Definition at line 115 of file state.h.

VelocityType hector_pose_estimation::State::velocityPart ( )

protected

void hector_pose_estimation::State::velocitySet ( )

protected

virtual Vector& hector_pose_estimation::State::x ( )

inlinevirtual

Definition at line 92 of file state.h.

void hector_pose_estimation::State::yawSet ( )

protected

Member Data Documentation

boost::shared_ptr<AccelerationStateType> hector_pose_estimation::State::acceleration_

protected

Definition at line 186 of file state.h.

boost::shared_ptr<BaseState> hector_pose_estimation::State::base_

protected

Definition at line 181 of file state.h.

Covariance hector_pose_estimation::State::covariance_

protected

Definition at line 170 of file state.h.

Vector hector_pose_estimation::State::fake_acceleration_

protected

Definition at line 192 of file state.h.

Vector hector_pose_estimation::State::fake_orientation_

protected

Definition at line 188 of file state.h.

Vector hector_pose_estimation::State::fake_position_

protected

Definition at line 190 of file state.h.

Vector hector_pose_estimation::State::fake_rate_

protected

Definition at line 189 of file state.h.

Vector hector_pose_estimation::State::fake_velocity_

protected

Definition at line 191 of file state.h.

SystemStatus hector_pose_estimation::State::measurement_status_

protected

Definition at line 173 of file state.h.

boost::shared_ptr<OrientationStateType> hector_pose_estimation::State::orientation_

protected

Definition at line 182 of file state.h.

boost::shared_ptr<PositionStateType> hector_pose_estimation::State::position_

protected

Definition at line 184 of file state.h.

RotationMatrix hector_pose_estimation::State::R_

mutableprotected

Definition at line 197 of file state.h.

bool hector_pose_estimation::State::R_valid_

mutableprotected

Definition at line 198 of file state.h.

boost::shared_ptr<RateStateType> hector_pose_estimation::State::rate_

protected

Definition at line 183 of file state.h.

std::vector<SystemStatusCallback> hector_pose_estimation::State::status_callbacks_

protected

Definition at line 175 of file state.h.

SubStates hector_pose_estimation::State::substates_

protected

Definition at line 177 of file state.h.

std::map<const Model *, SubStateWPtr> hector_pose_estimation::State::substates_by_model_

protected

Definition at line 178 of file state.h.

std::map<std::string, SubStateWPtr> hector_pose_estimation::State::substates_by_name_

protected

Definition at line 179 of file state.h.

SystemStatus hector_pose_estimation::State::system_status_

protected

Definition at line 172 of file state.h.

ros::Time hector_pose_estimation::State::timestamp_

protected

Definition at line 194 of file state.h.

Vector hector_pose_estimation::State::vector_

protected

Definition at line 169 of file state.h.

boost::shared_ptr<VelocityStateType> hector_pose_estimation::State::velocity_

protected

Definition at line 185 of file state.h.

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation