#include <slam_technique.h>
Definition at line 17 of file slam_technique.h.
| SLAMTechnique::SLAMTechnique |
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Type |
type | ) |
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| virtual void tuw::SLAMTechnique::cycle |
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std::vector< Pose2D > & |
yt, |
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cv::Mat_< double > & |
C_Yt, |
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const Command & |
ut, |
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const MeasurementConstPtr & |
zt |
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) |
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pure virtual |
starts the SLAM cycle and predicts the vehicles and landmark poses at the timestamp encoded into the measurement
- Parameters
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| yt | implicit return of the combined state yt = (xt, mt_1, ..., mt_n) with xt = (x, y, alpha), mt_i = (x_i, y_i, alpha_i) |
| C_Yt | implicit return of the combined covariance matrix of combined state |
| ut | current control command |
| zt | measurments at time t |
Implemented in tuw::EKFSLAM.
| const std::string SLAMTechnique::getTypeName |
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| ) |
const |
| virtual void tuw::SLAMTechnique::init |
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| ) |
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protectedpure virtual |
map of type enum to human readable names
Inits the system
Implemented in tuw::EKFSLAM.
| void SLAMTechnique::reset |
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| ) |
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| virtual void tuw::SLAMTechnique::setConfig |
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const void * |
config | ) |
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pure virtual |
virtual function to set the config parameters
- Parameters
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| config | point to a autogenerated ros reconfiguration config |
Implemented in tuw::EKFSLAM.
| const boost::posix_time::ptime & SLAMTechnique::time_last_update |
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| ) |
const |
| bool SLAMTechnique::updateTimestamp |
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const boost::posix_time::ptime & |
t | ) |
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protected |
updates the timestamp_last_update_ and the duration_last_update_ on the first call it will set the timestamp_last_update_ to t and the duration_last_update_ to zero the duration_last_update_ will be used for the prediction step
- Returns
- true on succsessful update, false on first use and if t is in the past
Definition at line 31 of file slam_technique.cpp.
| boost::posix_time::time_duration tuw::SLAMTechnique::duration_last_update_ |
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protected |
| bool tuw::SLAMTechnique::reset_ |
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protected |
| boost::posix_time::ptime tuw::SLAMTechnique::timestamp_last_update_ |
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protected |
on true the system should be reseted on the next loop
Definition at line 98 of file slam_technique.h.
| Type tuw::SLAMTechnique::type_ |
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private |
The documentation for this class was generated from the following files:
