Robot Localization Listener class. More...

#include <robot_localization_estimator.h>

Public Member Functions
void	clearBuffer ()
	Clears the internal state buffer. More...

unsigned int	getBufferCapacity () const
	Returns the buffer capacity. More...

unsigned int	getSize () const
	Returns the current buffer size. More...

EstimatorResult	getState (const double time, EstimatorState &state) const
	Returns the state at a given time. More...

	RobotLocalizationEstimator (unsigned int buffer_capacity, FilterType filter_type, const Eigen::MatrixXd &process_noise_covariance, const std::vector< double > &filter_args=std::vector< double >())
	Constructor for the RobotLocalizationListener class. More...

void	setBufferCapacity (const int capacity)
	Sets the buffer capacity. More...

void	setState (const EstimatorState &state)
	Sets the current internal state of the listener. More...

virtual	~RobotLocalizationEstimator ()
	Destructor for the RobotLocalizationListener class. More...

Private Member Functions
void	extrapolate (const EstimatorState &boundary_state, const double requested_time, EstimatorState &state_at_req_time) const
	Extrapolates the given state to a requested time stamp. More...

void	interpolate (const EstimatorState &given_state_1, const EstimatorState &given_state_2, const double requested_time, EstimatorState &state_at_req_time) const
	Interpolates the given state to a requested time stamp. More...

Private Attributes
FilterBase *	filter_
	A pointer to the filter instance that is used for extrapolation. More...

boost::circular_buffer< EstimatorState >	state_buffer_
	The buffer holding the system states that have come in. Interpolation and extrapolation is done starting from these states. More...

Friends
std::ostream &	operator<< (std::ostream &os, const RobotLocalizationEstimator &rle)

Detailed Description

Robot Localization Listener class.

The Robot Localization Estimator class buffers states of and inputs to a system and can interpolate and extrapolate based on a given system model.

Definition at line 116 of file robot_localization_estimator.h.

Constructor & Destructor Documentation

RobotLocalization::RobotLocalizationEstimator::RobotLocalizationEstimator	(	unsigned int	buffer_capacity,
		FilterType	filter_type,
		const Eigen::MatrixXd &	process_noise_covariance,
		const std::vector< double > &	filter_args = `std::vector<double>()`
	)

explicit

Constructor for the RobotLocalizationListener class.

Parameters

[in] args - Generic argument container (not used here, but needed so that the ROS filters can pass arbitrary arguments to templated filter types).

Definition at line 41 of file robot_localization_estimator.cpp.

RobotLocalization::RobotLocalizationEstimator::~RobotLocalizationEstimator ( )

virtual

Destructor for the RobotLocalizationListener class.

Definition at line 61 of file robot_localization_estimator.cpp.

Member Function Documentation

void RobotLocalization::RobotLocalizationEstimator::clearBuffer ( )

Clears the internal state buffer.

Definition at line 163 of file robot_localization_estimator.cpp.

void RobotLocalization::RobotLocalizationEstimator::extrapolate	(	const EstimatorState &	boundary_state,
		const double	requested_time,
		EstimatorState &	state_at_req_time
	)		const

private

Extrapolates the given state to a requested time stamp.

Parameters

[in]	boundary_state	- state from which to extrapolate
[in]	requested_time	- time stamp to extrapolate to
[out]	state_at_req_time	- predicted state at requested time

Definition at line 178 of file robot_localization_estimator.cpp.

unsigned int RobotLocalization::RobotLocalizationEstimator::getBufferCapacity ( ) const

Returns the buffer capacity.

Returns the number of EstimatorState objects that can be pushed to the buffer before old ones are dropped. (The capacity of the buffer).

Returns: buffer capacity

Definition at line 168 of file robot_localization_estimator.cpp.

unsigned int RobotLocalization::RobotLocalizationEstimator::getSize ( ) const

Returns the current buffer size.

Returns the number of EstimatorState objects currently in the buffer.

Returns: current buffer size

Definition at line 173 of file robot_localization_estimator.cpp.

EstimatorResult RobotLocalization::RobotLocalizationEstimator::getState	(	const double	time,
		EstimatorState &	state
	)		const

Returns the state at a given time.

Projects the current state and error matrices forward using a model of the robot's motion.

Parameters

[in]	time	- The time to which the prediction is being made
[out]	state	- The returned state at the given time

Returns: GetStateResult enum

Definition at line 87 of file robot_localization_estimator.cpp.

void RobotLocalization::RobotLocalizationEstimator::interpolate	(	const EstimatorState &	given_state_1,
		const EstimatorState &	given_state_2,
		const double	requested_time,
		EstimatorState &	state_at_req_time
	)		const

private

Interpolates the given state to a requested time stamp.

Parameters

[in]	given_state_1	- last state update before requested time
[in]	given_state_2	- next state update after requested time
[in]	requested_time	- time stamp to extrapolate to
[out]	state_at_req_time	- predicted state at requested time