GraftUKFAttitude Class Reference

#include <GraftUKFAttitude.h>

Public Member Functions
MatrixXd	f (MatrixXd x, double dt)
graft::GraftStatePtr	getMessageFromState ()
graft::GraftStatePtr	getMessageFromState (Matrix< double, SIZE, 1 > &state, Matrix< double, SIZE, SIZE > &covariance)
	GraftUKFAttitude ()
std::vector< MatrixXd >	predict_sigma_points (std::vector< MatrixXd > &sigma_points, double dt)
double	predictAndUpdate ()
void	setAlpha (const double alpha)
void	setBeta (const double beta)
void	setInitialCovariance (std::vector< double > &P)
void	setKappa (const double kappa)
void	setProcessNoise (std::vector< double > &Q)
void	setTopics (std::vector< boost::shared_ptr< GraftSensor > > &topics)
	~GraftUKFAttitude ()

Private Attributes
double	alpha_
double	beta_
Matrix< double, SIZE, 1 >	graft_control_
Matrix< double, SIZE, SIZE >	graft_covariance_
Matrix< double, SIZE, 1 >	graft_state_
double	kappa_
ros::Time	last_imu_time_
ros::Time	last_update_time_
Matrix< double, SIZE, SIZE >	Q_
std::vector< boost::shared_ptr< GraftSensor > >	topics_

Detailed Description

Definition at line 51 of file GraftUKFAttitude.h.

Constructor & Destructor Documentation

GraftUKFAttitude()

GraftUKFAttitude::GraftUKFAttitude

(

)

Definition at line 37 of file GraftUKFAttitude.cpp.

~GraftUKFAttitude()

GraftUKFAttitude::~GraftUKFAttitude

(

)

Definition at line 45 of file GraftUKFAttitude.cpp.

Member Function Documentation

f()

MatrixXd GraftUKFAttitude::f	(	MatrixXd	x,
		double	dt
	)

Definition at line 164 of file GraftUKFAttitude.cpp.

getMessageFromState() [1/2]

graft::GraftStatePtr GraftUKFAttitude::getMessageFromState

(

)

Definition at line 195 of file GraftUKFAttitude.cpp.

getMessageFromState() [2/2]

graft::GraftStatePtr GraftUKFAttitude::getMessageFromState	(	Matrix< double, SIZE, 1 > &	state,
		Matrix< double, SIZE, SIZE > &	covariance
	)

Definition at line 199 of file GraftUKFAttitude.cpp.

predict_sigma_points()

std::vector< MatrixXd > GraftUKFAttitude::predict_sigma_points	(	std::vector< MatrixXd > &	sigma_points,
		double	dt
	)

Definition at line 187 of file GraftUKFAttitude.cpp.

predictAndUpdate()

double GraftUKFAttitude::predictAndUpdate

(

)

Definition at line 329 of file GraftUKFAttitude.cpp.

setAlpha()

void GraftUKFAttitude::setAlpha

(

const double

alpha

)

Definition at line 409 of file GraftUKFAttitude.cpp.

setBeta()

void GraftUKFAttitude::setBeta

(

const double

beta

)

Definition at line 417 of file GraftUKFAttitude.cpp.

setInitialCovariance()

void GraftUKFAttitude::setInitialCovariance

(

std::vector< double > &

P

)

Definition at line 373 of file GraftUKFAttitude.cpp.

setKappa()

void GraftUKFAttitude::setKappa

(

const double

kappa

)

Definition at line 413 of file GraftUKFAttitude.cpp.

setProcessNoise()

void GraftUKFAttitude::setProcessNoise

(

std::vector< double > &

Q

)

Definition at line 391 of file GraftUKFAttitude.cpp.

setTopics()

void GraftUKFAttitude::setTopics

(

std::vector< boost::shared_ptr< GraftSensor > > &

topics

)

Definition at line 369 of file GraftUKFAttitude.cpp.

Member Data Documentation

alpha_

double GraftUKFAttitude::alpha_

private

Definition at line 89 of file GraftUKFAttitude.h.

beta_

double GraftUKFAttitude::beta_

private

Definition at line 90 of file GraftUKFAttitude.h.

graft_control_

Matrix<double, SIZE, 1> GraftUKFAttitude::graft_control_

private

Definition at line 81 of file GraftUKFAttitude.h.

graft_covariance_

Matrix<double, SIZE, SIZE> GraftUKFAttitude::graft_covariance_

private

Definition at line 82 of file GraftUKFAttitude.h.

graft_state_

Matrix<double, SIZE, 1> GraftUKFAttitude::graft_state_

private

Definition at line 80 of file GraftUKFAttitude.h.

kappa_

double GraftUKFAttitude::kappa_

private

Definition at line 91 of file GraftUKFAttitude.h.

last_imu_time_

ros::Time GraftUKFAttitude::last_imu_time_

private

Definition at line 87 of file GraftUKFAttitude.h.

last_update_time_

ros::Time GraftUKFAttitude::last_update_time_

private

Definition at line 86 of file GraftUKFAttitude.h.

Q_

Matrix<double, SIZE, SIZE> GraftUKFAttitude::Q_

private

Definition at line 84 of file GraftUKFAttitude.h.

topics_

std::vector<boost::shared_ptr<GraftSensor> > GraftUKFAttitude::topics_

private

Definition at line 93 of file GraftUKFAttitude.h.

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

• GraftUKFAttitude.h
• GraftUKFAttitude.cpp