RobotLocalization Namespace Reference

Namespaces
	EstimatorResults
	FilterTypes
	FilterUtilities
	NavsatConversions
	RosFilterUtilities

Classes
struct	CallbackData
class	Ekf
	Extended Kalman filter class. More...
struct	EstimatorState
	Robot Localization Estimator State. More...
class	FilterBase
struct	FilterState
	Structure used for storing and comparing filter states. More...
struct	Measurement
	Structure used for storing and comparing measurements (for priority queues) More...
class	NavSatTransform
class	RobotLocalizationEstimator
	Robot Localization Listener class. More...
class	RobotLocalizationListenerNode
class	RosFilter
class	RosRobotLocalizationListener
	RosRobotLocalizationListener class. More...
struct	Twist
class	Ukf
	Unscented Kalman filter class. More...

Typedefs
typedef EstimatorResults::EstimatorResult	EstimatorResult
typedef std::deque< FilterStatePtr >	FilterStateHistoryDeque
typedef boost::shared_ptr< FilterState >	FilterStatePtr
typedef FilterTypes::FilterType	FilterType
typedef std::deque< MeasurementPtr >	MeasurementHistoryDeque
typedef boost::shared_ptr< Measurement >	MeasurementPtr
typedef std::priority_queue< MeasurementPtr, std::vector< MeasurementPtr >, Measurement >	MeasurementQueue
typedef RosFilter< Ekf >	RosEkf
typedef RosFilter< Ukf >	RosUkf

Enumerations
enum	ControlMembers {   ControlMemberVx, ControlMemberVy, ControlMemberVz, ControlMemberVroll,   ControlMemberVpitch, ControlMemberVyaw }
	Enumeration that defines the control vector. More...
enum	StateMembers {   StateMemberX = 0, StateMemberY, StateMemberZ, StateMemberRoll,   StateMemberPitch, StateMemberYaw, StateMemberVx, StateMemberVy,   StateMemberVz, StateMemberVroll, StateMemberVpitch, StateMemberVyaw,   StateMemberAx, StateMemberAy, StateMemberAz }
	Enumeration that defines the state vector. More...

Functions
FilterType	filterTypeFromString (const std::string &filter_type_str)
bool	findAncestor (const tf2_ros::Buffer &buffer, const std::string &source_frame, const std::string &target_frame)
bool	findAncestorRecursiveYAML (YAML::Node &tree, const std::string &source_frame, const std::string &target_frame)

Variables
const int	ACCELERATION_SIZE = 3
static std::map< std::string, std::vector< std::string > >	ancestor_map
static std::map< std::string, std::vector< std::string > >	descendant_map
const int	ORIENTATION_OFFSET = StateMemberRoll
const int	ORIENTATION_SIZE = 3
const int	ORIENTATION_V_OFFSET = StateMemberVroll
const double	PI = 3.141592653589793
	Common variables. More...
const int	POSE_SIZE = 6
	Pose and twist messages each contain six variables. More...
const int	POSITION_A_OFFSET = StateMemberAx
const int	POSITION_OFFSET = StateMemberX
const int	POSITION_SIZE = 3
const int	POSITION_V_OFFSET = StateMemberVx
const int	STATE_SIZE = 15
	Global constants that define our state vector size and offsets to groups of values within that state. More...
const double	TAU = 6.283185307179587
const int	TWIST_SIZE = 6

Typedef Documentation

typedef EstimatorResults::EstimatorResult RobotLocalization::EstimatorResult

Definition at line 98 of file robot_localization_estimator.h.

typedef std::deque<FilterStatePtr> RobotLocalization::FilterStateHistoryDeque

Definition at line 104 of file ros_filter.h.

typedef boost::shared_ptr<FilterState> RobotLocalization::FilterStatePtr

Definition at line 149 of file filter_base.h.

typedef FilterTypes::FilterType RobotLocalization::FilterType

Definition at line 109 of file robot_localization_estimator.h.

typedef std::deque<MeasurementPtr> RobotLocalization::MeasurementHistoryDeque

Definition at line 103 of file ros_filter.h.

typedef boost::shared_ptr<Measurement> RobotLocalization::MeasurementPtr

Definition at line 110 of file filter_base.h.

typedef std::priority_queue<MeasurementPtr, std::vector<MeasurementPtr>, Measurement> RobotLocalization::MeasurementQueue

Definition at line 102 of file ros_filter.h.

typedef RosFilter<Ekf> RobotLocalization::RosEkf

Definition at line 43 of file ros_filter_types.h.

typedef RosFilter<Ukf> RobotLocalization::RosUkf

Definition at line 44 of file ros_filter_types.h.

Enumeration Type Documentation

enum RobotLocalization::ControlMembers

Enumeration that defines the control vector.

Enumerator
ControlMemberVx
ControlMemberVy
ControlMemberVz
ControlMemberVroll
ControlMemberVpitch
ControlMemberVyaw

Definition at line 62 of file filter_common.h.

enum RobotLocalization::StateMembers

Enumeration that defines the state vector.

Enumerator
StateMemberX
StateMemberY
StateMemberZ
StateMemberRoll
StateMemberPitch
StateMemberYaw
StateMemberVx
StateMemberVy
StateMemberVz
StateMemberVroll
StateMemberVpitch
StateMemberVyaw
StateMemberAx
StateMemberAy
StateMemberAz

Definition at line 41 of file filter_common.h.

Function Documentation

FilterType RobotLocalization::filterTypeFromString

(

const std::string &

filter_type_str

)

Definition at line 52 of file ros_robot_localization_listener.cpp.

bool RobotLocalization::findAncestor	(	const tf2_ros::Buffer &	buffer,
		const std::string &	source_frame,
		const std::string &	target_frame
	)

Definition at line 279 of file ros_robot_localization_listener.cpp.

bool RobotLocalization::findAncestorRecursiveYAML	(	YAML::Node &	tree,
		const std::string &	source_frame,
		const std::string &	target_frame
	)

Definition at line 259 of file ros_robot_localization_listener.cpp.

Variable Documentation

const int RobotLocalization::ACCELERATION_SIZE = 3

Definition at line 88 of file filter_common.h.

std::map<std::string, std::vector<std::string> > RobotLocalization::ancestor_map

static

Definition at line 277 of file ros_robot_localization_listener.cpp.

std::map<std::string, std::vector<std::string> > RobotLocalization::descendant_map

static

Definition at line 278 of file ros_robot_localization_listener.cpp.

const int RobotLocalization::ORIENTATION_OFFSET = StateMemberRoll

Definition at line 77 of file filter_common.h.

const int RobotLocalization::ORIENTATION_SIZE = 3

Definition at line 87 of file filter_common.h.

const int RobotLocalization::ORIENTATION_V_OFFSET = StateMemberVroll

Definition at line 79 of file filter_common.h.

const double RobotLocalization::PI = 3.141592653589793

Common variables.

Definition at line 91 of file filter_common.h.

const int RobotLocalization::POSE_SIZE = 6

Pose and twist messages each contain six variables.

Definition at line 84 of file filter_common.h.

const int RobotLocalization::POSITION_A_OFFSET = StateMemberAx

Definition at line 80 of file filter_common.h.

const int RobotLocalization::POSITION_OFFSET = StateMemberX

Definition at line 76 of file filter_common.h.

const int RobotLocalization::POSITION_SIZE = 3

Definition at line 86 of file filter_common.h.

const int RobotLocalization::POSITION_V_OFFSET = StateMemberVx

Definition at line 78 of file filter_common.h.

const int RobotLocalization::STATE_SIZE = 15

Global constants that define our state vector size and offsets to groups of values within that state.

Definition at line 75 of file filter_common.h.

const double RobotLocalization::TAU = 6.283185307179587

Definition at line 92 of file filter_common.h.

const int RobotLocalization::TWIST_SIZE = 6

Definition at line 85 of file filter_common.h.