#include <odom_estimation.h>
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| void | angleOverflowCorrect (double &a, double ref) |
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| void | decomposeTransform (const tf::StampedTransform &trans, double &x, double &y, double &z, double &Rx, double &Ry, double &Rz) |
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| void | decomposeTransform (const tf::Transform &trans, double &x, double &y, double &z, double &Rx, double &Ry, double &Rz) |
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Definition at line 91 of file odom_estimation.h.
◆ OdomEstimation()
| estimation::OdomEstimation::OdomEstimation |
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◆ ~OdomEstimation()
| estimation::OdomEstimation::~OdomEstimation |
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◆ addMeasurement() [1/2]
Add a sensor measurement to the measurement buffer
- Parameters
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| meas | the measurement to add |
Definition at line 322 of file odom_estimation.cpp.
◆ addMeasurement() [2/2]
| void estimation::OdomEstimation::addMeasurement |
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const tf::StampedTransform & |
meas, |
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const MatrixWrapper::SymmetricMatrix & |
covar |
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Add a sensor measurement to the measurement buffer
- Parameters
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| meas | the measurement to add |
| covar | the 6x6 covariance matrix of this measurement, as defined in the PoseWithCovariance message |
Definition at line 332 of file odom_estimation.cpp.
◆ angleOverflowCorrect()
| void estimation::OdomEstimation::angleOverflowCorrect |
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double & |
a, |
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double |
ref |
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◆ decomposeTransform() [1/2]
| void estimation::OdomEstimation::decomposeTransform |
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const tf::StampedTransform & |
trans, |
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double & |
x, |
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double & |
y, |
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double & |
z, |
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double & |
Rx, |
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double & |
Ry, |
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double & |
Rz |
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◆ decomposeTransform() [2/2]
| void estimation::OdomEstimation::decomposeTransform |
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const tf::Transform & |
trans, |
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double & |
x, |
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double & |
y, |
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double & |
z, |
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double & |
Rx, |
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double & |
Ry, |
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double & |
Rz |
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◆ getEstimate() [1/4]
| void estimation::OdomEstimation::getEstimate |
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geometry_msgs::PoseWithCovarianceStamped & |
estimate | ) |
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get the filter posterior
- Parameters
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| estimate | the filter posterior as a pose with covariance |
Definition at line 380 of file odom_estimation.cpp.
◆ getEstimate() [2/4]
| void estimation::OdomEstimation::getEstimate |
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MatrixWrapper::ColumnVector & |
estimate | ) |
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get the filter posterior
- Parameters
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| estimate | the filter posterior as a columnvector |
Definition at line 352 of file odom_estimation.cpp.
◆ getEstimate() [3/4]
get the filter posterior
- Parameters
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| time | the time of the filter posterior |
| estimate | the filter posterior as a stamped tf transform |
Definition at line 370 of file odom_estimation.cpp.
◆ getEstimate() [4/4]
get the filter posterior
- Parameters
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| time | the time of the filter posterior |
| estimate | the filter posterior as a tf transform |
Definition at line 358 of file odom_estimation.cpp.
◆ initialize()
initialize the extended Kalman filter
- Parameters
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| prior | the prior robot pose |
| time | the initial time of the ekf |
Definition at line 129 of file odom_estimation.cpp.
◆ isInitialized()
| bool estimation::OdomEstimation::isInitialized |
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check if the filter is initialized returns true if the ekf has been initialized already
Definition at line 151 of file odom_estimation.h.
◆ setBaseFootprintFrame()
| void estimation::OdomEstimation::setBaseFootprintFrame |
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const std::string & |
base_frame | ) |
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set the base_footprint frame of the robot used by tf
- Parameters
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| base_frame | the desired base frame from which to transform when publishing the combined odometry frame (e.g., base_footprint) |
Definition at line 431 of file odom_estimation.cpp.
◆ setOutputFrame()
| void estimation::OdomEstimation::setOutputFrame |
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const std::string & |
output_frame | ) |
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set the output frame used by tf
- Parameters
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| output_frame | the desired output frame published on /tf (e.g., odom_combined) |
Definition at line 427 of file odom_estimation.cpp.
◆ update()
| bool estimation::OdomEstimation::update |
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bool |
odom_active, |
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bool |
imu_active, |
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bool |
gps_active, |
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bool |
vo_active, |
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const ros::Time & |
filter_time, |
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bool & |
diagnostics_res |
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update the extended Kalman filter
- Parameters
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| odom_active | specifies if the odometry sensor is active or not |
| imu_active | specifies if the imu sensor is active or not |
| gps_active | specifies if the gps sensor is active or not |
| vo_active | specifies if the vo sensor is active or not |
| filter_time | update the ekf up to this time |
| diagnostics_res | returns false if the diagnostics found that the sensor measurements are inconsistent returns true on successfull update |
Definition at line 159 of file odom_estimation.cpp.
◆ base_footprint_frame_
| std::string estimation::OdomEstimation::base_footprint_frame_ |
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◆ diagnostics_imu_rot_rel_
| double estimation::OdomEstimation::diagnostics_imu_rot_rel_ |
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◆ diagnostics_odom_rot_rel_
| double estimation::OdomEstimation::diagnostics_odom_rot_rel_ |
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◆ filter_
| BFL::ExtendedKalmanFilter* estimation::OdomEstimation::filter_ |
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◆ filter_estimate_old_
◆ filter_estimate_old_vec_
| MatrixWrapper::ColumnVector estimation::OdomEstimation::filter_estimate_old_vec_ |
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◆ filter_initialized_
| bool estimation::OdomEstimation::filter_initialized_ |
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◆ filter_time_old_
| ros::Time estimation::OdomEstimation::filter_time_old_ |
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◆ gps_covariance_
| MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::gps_covariance_ |
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◆ gps_initialized_
| bool estimation::OdomEstimation::gps_initialized_ |
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◆ gps_meas_
◆ gps_meas_model_
| BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::gps_meas_model_ |
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◆ gps_meas_old_
◆ gps_meas_pdf_
| BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::gps_meas_pdf_ |
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◆ imu_covariance_
| MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::imu_covariance_ |
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◆ imu_initialized_
| bool estimation::OdomEstimation::imu_initialized_ |
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◆ imu_meas_
◆ imu_meas_model_
| BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::imu_meas_model_ |
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◆ imu_meas_old_
◆ imu_meas_pdf_
| BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::imu_meas_pdf_ |
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◆ odom_covariance_
| MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::odom_covariance_ |
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◆ odom_initialized_
| bool estimation::OdomEstimation::odom_initialized_ |
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◆ odom_meas_
◆ odom_meas_model_
| BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::odom_meas_model_ |
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◆ odom_meas_old_
◆ odom_meas_pdf_
| BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::odom_meas_pdf_ |
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◆ output_frame_
| std::string estimation::OdomEstimation::output_frame_ |
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◆ prior_
| BFL::Gaussian* estimation::OdomEstimation::prior_ |
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◆ sys_model_
| BFL::AnalyticSystemModelGaussianUncertainty* estimation::OdomEstimation::sys_model_ |
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◆ sys_pdf_
◆ transformer_
◆ vel_desi_
| MatrixWrapper::ColumnVector estimation::OdomEstimation::vel_desi_ |
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◆ vo_covariance_
| MatrixWrapper::SymmetricMatrix estimation::OdomEstimation::vo_covariance_ |
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◆ vo_initialized_
| bool estimation::OdomEstimation::vo_initialized_ |
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◆ vo_meas_
◆ vo_meas_model_
| BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::OdomEstimation::vo_meas_model_ |
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◆ vo_meas_old_
◆ vo_meas_pdf_
| BFL::LinearAnalyticConditionalGaussian* estimation::OdomEstimation::vo_meas_pdf_ |
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The documentation for this class was generated from the following files: