hector_pose_estimation::AccelerometerModel Class Reference

#include <imu_model.h>

Inheritance diagram for hector_pose_estimation::AccelerometerModel:

List of all members.

Public Types
enum	StateIndex { BIAS_ACCEL_X = 0, BIAS_ACCEL_Y, BIAS_ACCEL_Z }
Public Member Functions
	AccelerometerModel ()
ConstStateVectorSegment	getBias () const
virtual void	getStateJacobian (SystemMatrix &A1, CrossSystemMatrix &A01, const State &state, bool init)
virtual void	getSystemNoise (NoiseVariance &Q, const State &state, bool init)
virtual bool	init (PoseEstimation &estimator, State &state)
SubState &	sub (State &state) const
const SubState &	sub (const State &state) const
virtual	~AccelerometerModel ()
Private Attributes
double	acceleration_drift_
double	acceleration_stddev_
SubStatePtr	drift_

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Detailed Description

Definition at line 67 of file imu_model.h.

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Member Enumeration Documentation

enum hector_pose_estimation::AccelerometerModel::StateIndex

Enumerator:

BIAS_ACCEL_X
BIAS_ACCEL_Y
BIAS_ACCEL_Z

Definition at line 70 of file imu_model.h.

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Constructor & Destructor Documentation

hector_pose_estimation::AccelerometerModel::AccelerometerModel

(

)

Definition at line 106 of file imu_model.cpp.

hector_pose_estimation::AccelerometerModel::~AccelerometerModel

(

)

[virtual]

Definition at line 114 of file imu_model.cpp.

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Member Function Documentation

ConstStateVectorSegment hector_pose_estimation::AccelerometerModel::getBias

(

)

const [inline]

Definition at line 89 of file imu_model.h.

void hector_pose_estimation::AccelerometerModel::getStateJacobian	(	SystemMatrix &	A1,
		CrossSystemMatrix &	A01,
		const State &	state,
		bool	init
	)		[virtual]

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< AccelerometerModel, 3 >.

Definition at line 131 of file imu_model.cpp.

void hector_pose_estimation::AccelerometerModel::getSystemNoise	(	NoiseVariance &	Q,
		const State &	state,
		bool	init
	)		[virtual]

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< AccelerometerModel, 3 >.

Definition at line 123 of file imu_model.cpp.

bool hector_pose_estimation::AccelerometerModel::init	(	PoseEstimation &	estimator,
		State &	state
	)		[virtual]

Reimplemented from hector_pose_estimation::Model.

Definition at line 117 of file imu_model.cpp.

SubState& hector_pose_estimation::AccelerometerModel::sub

(

State &

state

)

const [inline]

Reimplemented from hector_pose_estimation::SystemModel_< AccelerometerModel, _SubDimension >.

Definition at line 79 of file imu_model.h.

const SubState& hector_pose_estimation::AccelerometerModel::sub

(

const State &

state

)

const [inline]

Reimplemented from hector_pose_estimation::SystemModel_< AccelerometerModel, _SubDimension >.

Definition at line 80 of file imu_model.h.

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Member Data Documentation

double hector_pose_estimation::AccelerometerModel::acceleration_drift_ [private]

Definition at line 94 of file imu_model.h.

double hector_pose_estimation::AccelerometerModel::acceleration_stddev_ [private]

Definition at line 93 of file imu_model.h.

SubStatePtr hector_pose_estimation::AccelerometerModel::drift_ [private]

Definition at line 92 of file imu_model.h.

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

• imu_model.h
• imu_model.cpp