#include <generic_quaternion_system_model.h>
Public Member Functions | |
| GenericQuaternionSystemModel () | |
| virtual void | getDerivative (StateVector &x_dot, const State &state) |
| double | getGravity () const |
| virtual void | getInputJacobian (InputMatrix &B, const State &state, bool init) |
| virtual void | getPrior (State &state) |
| virtual void | getStateJacobian (SystemMatrix &A, const State &state, bool init) |
| virtual SystemStatus | getStatusFlags (const State &state) |
| virtual void | getSystemNoise (NoiseVariance &Q, const State &state, bool init) |
| virtual bool | init (PoseEstimation &estimator, State &state) |
| virtual bool | prepareUpdate (State &state, double dt) |
| void | setGravity (double gravity) |
| virtual | ~GenericQuaternionSystemModel () |
Protected Attributes | |
| ColumnVector_< 3 > | acceleration |
| AliasT< double > | acceleration_stddev_ |
| boost::shared_ptr< Accelerometer > | accelerometer_ |
| double | angular_acceleration_stddev_ |
| AliasT< double > | gravity_ |
| boost::shared_ptr< Gyro > | gyro_ |
| boost::shared_ptr< ImuInput > | imu_ |
| State::RotationMatrix | R |
| ColumnVector_< 3 > | rate |
| AliasT< double > | rate_stddev_ |
| double | velocity_stddev_ |
Detailed Description
Definition at line 49 of file generic_quaternion_system_model.h.
Constructor & Destructor Documentation
Definition at line 37 of file generic_quaternion_system_model.cpp.
Definition at line 52 of file generic_quaternion_system_model.cpp.
Member Function Documentation
| void hector_pose_estimation::GenericQuaternionSystemModel::getDerivative | ( | StateVector & | x_dot, |
| const State & | state | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.
Reimplemented in hector_pose_estimation::GroundVehicleModel.
Definition at line 114 of file generic_quaternion_system_model.cpp.
| double hector_pose_estimation::GenericQuaternionSystemModel::getGravity | ( | ) | const [inline] |
Definition at line 72 of file generic_quaternion_system_model.h.
| void hector_pose_estimation::GenericQuaternionSystemModel::getInputJacobian | ( | InputMatrix & | B, |
| const State & | state, | ||
| bool | init | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.
Definition at line 378 of file generic_quaternion_system_model.cpp.
| void hector_pose_estimation::GenericQuaternionSystemModel::getPrior | ( | State & | state | ) | [virtual] |
Reimplemented from hector_pose_estimation::SystemModel_< GenericQuaternionSystemModel, 0 >.
Reimplemented in hector_pose_estimation::GroundVehicleModel.
Definition at line 71 of file generic_quaternion_system_model.cpp.
| void hector_pose_estimation::GenericQuaternionSystemModel::getStateJacobian | ( | SystemMatrix & | A, |
| const State & | state, | ||
| bool | init | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.
Reimplemented in hector_pose_estimation::GroundVehicleModel.
Definition at line 191 of file generic_quaternion_system_model.cpp.
| SystemStatus hector_pose_estimation::GenericQuaternionSystemModel::getStatusFlags | ( | const State & | state | ) | [virtual] |
Reimplemented from hector_pose_estimation::SystemModel.
Reimplemented in hector_pose_estimation::GroundVehicleModel.
Definition at line 383 of file generic_quaternion_system_model.cpp.
| void hector_pose_estimation::GenericQuaternionSystemModel::getSystemNoise | ( | NoiseVariance & | Q, |
| const State & | state, | ||
| bool | init | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.
Definition at line 167 of file generic_quaternion_system_model.cpp.
| bool hector_pose_estimation::GenericQuaternionSystemModel::init | ( | PoseEstimation & | estimator, |
| State & | state | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::Model.
Definition at line 56 of file generic_quaternion_system_model.cpp.
| bool hector_pose_estimation::GenericQuaternionSystemModel::prepareUpdate | ( | State & | state, |
| double | dt | ||
| ) | [virtual] |
Reimplemented from hector_pose_estimation::SystemModel.
Definition at line 98 of file generic_quaternion_system_model.cpp.
| void hector_pose_estimation::GenericQuaternionSystemModel::setGravity | ( | double | gravity | ) | [inline] |
Definition at line 71 of file generic_quaternion_system_model.h.
Member Data Documentation
Definition at line 86 of file generic_quaternion_system_model.h.
AliasT<double> hector_pose_estimation::GenericQuaternionSystemModel::acceleration_stddev_ [protected] |
Definition at line 77 of file generic_quaternion_system_model.h.
boost::shared_ptr<Accelerometer> hector_pose_estimation::GenericQuaternionSystemModel::accelerometer_ [protected] |
Definition at line 83 of file generic_quaternion_system_model.h.
double hector_pose_estimation::GenericQuaternionSystemModel::angular_acceleration_stddev_ [protected] |
Definition at line 78 of file generic_quaternion_system_model.h.
AliasT<double> hector_pose_estimation::GenericQuaternionSystemModel::gravity_ [protected] |
Definition at line 75 of file generic_quaternion_system_model.h.
boost::shared_ptr<Gyro> hector_pose_estimation::GenericQuaternionSystemModel::gyro_ [protected] |
Definition at line 82 of file generic_quaternion_system_model.h.
boost::shared_ptr<ImuInput> hector_pose_estimation::GenericQuaternionSystemModel::imu_ [protected] |
Definition at line 81 of file generic_quaternion_system_model.h.
Definition at line 87 of file generic_quaternion_system_model.h.
Definition at line 85 of file generic_quaternion_system_model.h.
AliasT<double> hector_pose_estimation::GenericQuaternionSystemModel::rate_stddev_ [protected] |
Definition at line 76 of file generic_quaternion_system_model.h.
double hector_pose_estimation::GenericQuaternionSystemModel::velocity_stddev_ [protected] |
Definition at line 79 of file generic_quaternion_system_model.h.
The documentation for this class was generated from the following files: