35 template class Measurement_<ZeroRateModel>;
50 ROS_ERROR(
"Could not find bias substate '%s' during initialization of zero rate pseudo measurement '%s'.",
use_bias_.c_str(), measurement.
getName().c_str());
58 ROS_WARN(
"Pseudo updating with zero rate is a no-op, as the state does not contain rates nor biases.");
74 y_pred(0) = state.
getRate().z();
84 state.
rate()->cols(C)(0,
Z) = 1.0;
92 static MeasurementVector zero(MeasurementVector::Zero());
boost::shared_ptr< SubState_< SubVectorDimension, SubCovarianceDimension > > getSubState(const Model *model) const
ConstVectorSegment getVector() const
virtual const std::string & getName() const
virtual ConstRateType getRate() const
Block< MatrixType, MatrixType::RowsAtCompileTime, CovarianceDimension > cols(MatrixType &matrix)
virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state)
ParameterList & add(const std::string &key, T &value, const T &default_value)
ParameterList & parameters()
virtual void getMeasurementNoise(NoiseVariance &R, const State &, bool init)
SubState_< 3 >::Ptr bias_
virtual void getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
virtual const boost::shared_ptr< RateStateType > & rate() const
virtual void getExpectedValue(MeasurementVector &y_pred, const State &state)
const MeasurementVector * getFixedMeasurementVector() const