Namespaces
	EstimatorResults

	FilterTypes

	FilterUtilities

	NavsatConversions

	RosFilterUtilities

Classes
struct	CallbackData

class	Ekf
	Extended Kalman filter class. More...

class	EkfNodelet

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	NavSatTransformNodelet

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...

class	UkfNodelet

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	LINEAR_VELOCITY_SIZE = 3

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

◆ EstimatorResult

typedef EstimatorResults::EstimatorResult RobotLocalization::EstimatorResult

Definition at line 98 of file robot_localization_estimator.h.

◆ FilterStateHistoryDeque

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

Definition at line 108 of file ros_filter.h.

◆ FilterStatePtr

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

Definition at line 145 of file filter_base.h.

◆ FilterType

typedef FilterTypes::FilterType RobotLocalization::FilterType

Definition at line 109 of file robot_localization_estimator.h.

◆ MeasurementHistoryDeque

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

Definition at line 107 of file ros_filter.h.

◆ MeasurementPtr

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

Definition at line 109 of file filter_base.h.

◆ MeasurementQueue

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

Definition at line 106 of file ros_filter.h.

◆ RosEkf

typedef RosFilter<Ekf> RobotLocalization::RosEkf

Definition at line 43 of file ros_filter_types.h.

◆ RosUkf

typedef RosFilter<Ukf> RobotLocalization::RosUkf

Definition at line 44 of file ros_filter_types.h.

Enumeration Type Documentation

◆ ControlMembers

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.

◆ StateMembers

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

◆ filterTypeFromString()

FilterType RobotLocalization::filterTypeFromString ( const std::string & filter_type_str )

Definition at line 52 of file ros_robot_localization_listener.cpp.

◆ findAncestor()

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.

◆ findAncestorRecursiveYAML()

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

◆ ACCELERATION_SIZE

const int RobotLocalization::ACCELERATION_SIZE = 3

Definition at line 89 of file filter_common.h.

◆ ancestor_map

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

static

Definition at line 277 of file ros_robot_localization_listener.cpp.

◆ descendant_map

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

static

Definition at line 278 of file ros_robot_localization_listener.cpp.

◆ LINEAR_VELOCITY_SIZE

const int RobotLocalization::LINEAR_VELOCITY_SIZE = 3

Definition at line 88 of file filter_common.h.

◆ ORIENTATION_OFFSET

const int RobotLocalization::ORIENTATION_OFFSET = StateMemberRoll

Definition at line 77 of file filter_common.h.

◆ ORIENTATION_SIZE

const int RobotLocalization::ORIENTATION_SIZE = 3

Definition at line 87 of file filter_common.h.

◆ ORIENTATION_V_OFFSET

const int RobotLocalization::ORIENTATION_V_OFFSET = StateMemberVroll

Definition at line 79 of file filter_common.h.

◆ PI

const double RobotLocalization::PI = 3.141592653589793

Common variables.

Definition at line 92 of file filter_common.h.

◆ POSE_SIZE

const int RobotLocalization::POSE_SIZE = 6

Pose and twist messages each contain six variables.

Definition at line 84 of file filter_common.h.

◆ POSITION_A_OFFSET

const int RobotLocalization::POSITION_A_OFFSET = StateMemberAx

Definition at line 80 of file filter_common.h.

◆ POSITION_OFFSET

const int RobotLocalization::POSITION_OFFSET = StateMemberX

Definition at line 76 of file filter_common.h.

◆ POSITION_SIZE

const int RobotLocalization::POSITION_SIZE = 3

Definition at line 86 of file filter_common.h.

◆ POSITION_V_OFFSET

const int RobotLocalization::POSITION_V_OFFSET = StateMemberVx

Definition at line 78 of file filter_common.h.

◆ STATE_SIZE

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.

◆ TAU

const double RobotLocalization::TAU = 6.283185307179587

Definition at line 93 of file filter_common.h.

◆ TWIST_SIZE

const int RobotLocalization::TWIST_SIZE = 6

Definition at line 85 of file filter_common.h.

Namespaces

Classes

Typedefs

Enumerations

Functions

Variables