hector_pose_estimation::State Class Reference

#include <state.h>

List of all members.

Public Types
typedef VectorBlock< Vector, 3 >	AccelerationType
typedef VectorBlock< const Vector, 3 >	ConstAccelerationType
typedef Block< const Covariance::Base, Dimension, Dimension >	ConstCovarianceBlock
typedef VectorBlock< const Vector, 4 >	ConstOrientationType
typedef VectorBlock< const Vector, 3 >	ConstPositionType
typedef VectorBlock< const Vector, 3 >	ConstRateType
typedef VectorBlock< const Vector, Dimension >	ConstVectorSegment
typedef VectorBlock< const Vector, 3 >	ConstVelocityType
typedef SymmetricMatrix	Covariance
typedef Block < Covariance::Base, Dimension, Dimension >	CovarianceBlock
typedef VectorBlock< Vector, 4 >	OrientationType
typedef VectorBlock< Vector, 3 >	PositionType
typedef VectorBlock< Vector, 3 >	RateType
typedef Matrix_< 3, 3 >	RotationMatrix
enum	StateIndex {   QUATERNION_X = 0, QUATERNION_Y, QUATERNION_Z, QUATERNION_W,   POSITION_X, POSITION_Y, POSITION_Z, VELOCITY_X,   VELOCITY_Y, VELOCITY_Z, Dimension, RATE_X = -1,   RATE_Y = -1, RATE_Z = -1, ACCELERATION_X = -1, ACCELERATION_Y = -1,   ACCELERATION_Z = -1 }
typedef std::vector< SubStatePtr >	SubStates
typedef boost::function< bool(SystemStatus &)>	SystemStatusCallback
typedef ColumnVector	Vector
enum	VectorIndex { X = 0, Y = 1, Z = 2, W = 3 }
typedef VectorBlock< Vector, Dimension >	VectorSegment
typedef VectorBlock< Vector, 3 >	VelocityType
Public Member Functions
virtual AccelerationType	acceleration ()
template<int SubDimension>
boost::shared_ptr< SubState_ < SubDimension > >	addSubState (const Model *model, const std::string &name=std::string())
virtual void	addSystemStatusCallback (const SystemStatusCallback &callback)
virtual BaseState &	base ()
virtual const BaseState &	base () const
virtual ConstAccelerationType	getAcceleration () const
virtual IndexType	getAccelerationIndex () const
virtual const Covariance &	getCovariance () const
virtual IndexType	getDimension () const
virtual SystemStatus	getMeasurementStatus () const
virtual ConstOrientationType	getOrientation () const
virtual IndexType	getOrientationIndex () const
virtual ConstPositionType	getPosition () const
virtual IndexType	getPositionIndex () const
virtual ConstRateType	getRate () const
virtual IndexType	getRateIndex () const
RotationMatrix	getRotationMatrix () const
void	getRotationMatrix (RotationMatrix &R) const
template<int Size>
VectorBlock< const Vector, Size >	getSegment (IndexType start) const
template<int SubDimension>
boost::shared_ptr< SubState_ < SubDimension > >	getSubState (const Model *model) const
template<int SubDimension>
boost::shared_ptr< SubState_ < SubDimension > >	getSubState (const std::string &name) const
const SubStates &	getSubStates () const
virtual SystemStatus	getSystemStatus () const
const ros::Time &	getTimestamp () const
virtual const Vector &	getVector () const
virtual ConstVelocityType	getVelocity () const
virtual IndexType	getVelocityIndex () const
double	getYaw () const
virtual bool	inSystemStatus (SystemStatus test_status) const
virtual double	normalize ()
virtual OrientationType	orientation ()
virtual Covariance &	P ()
virtual CovarianceBlock	P0 ()
virtual PositionType	position ()
virtual RateType	rate ()
virtual void	reset ()
template<typename Derived >
void	setAcceleration (const Eigen::MatrixBase< Derived > &acceleration)
virtual bool	setMeasurementStatus (SystemStatus new_status)
template<typename Derived >
void	setOrientation (const Eigen::MatrixBase< Derived > &orientation)
template<typename Derived >
void	setPosition (const Eigen::MatrixBase< Derived > &position)
template<typename Derived >
void	setRate (const Eigen::MatrixBase< Derived > &rate)
virtual bool	setSystemStatus (SystemStatus new_status)
void	setTimestamp (const ros::Time &timestamp)
template<typename Derived >
void	setVelocity (const Eigen::MatrixBase< Derived > &velocity)
	State ()
	State (const Vector &vector, const Covariance &covariance)
virtual void	updated ()
virtual bool	updateMeasurementStatus (SystemStatus set, SystemStatus clear)
virtual bool	updateSystemStatus (SystemStatus set, SystemStatus clear)
virtual bool	valid () const
virtual VelocityType	velocity ()
virtual Vector &	x ()
virtual VectorSegment	x0 ()
virtual	~State ()
Static Public Member Functions
static IndexType	getDimension0 ()
Private Attributes
boost::shared_ptr< BaseState >	base_
Covariance	covariance_
Vector	fake_acceleration_
Vector	fake_orientation_
Vector	fake_position_
Vector	fake_rate_
Vector	fake_velocity_
SystemStatus	measurement_status_
std::vector< SystemStatusCallback >	status_callbacks_
SubStates	substates_
std::map< const Model *, SubStateWPtr >	substates_by_model_
std::map< std::string, SubStateWPtr >	substates_by_name_
SystemStatus	system_status_
ros::Time	timestamp_
Vector	vector_

---

Detailed Description

Definition at line 55 of file state.h.

---

Member Typedef Documentation

typedef VectorBlock<Vector,3> hector_pose_estimation::State::AccelerationType

Definition at line 107 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstAccelerationType

Definition at line 108 of file state.h.

typedef Block<const Covariance::Base,Dimension,Dimension> hector_pose_estimation::State::ConstCovarianceBlock

Definition at line 97 of file state.h.

typedef VectorBlock<const Vector,4> hector_pose_estimation::State::ConstOrientationType

Definition at line 100 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstPositionType

Definition at line 104 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstRateType

Definition at line 102 of file state.h.

typedef VectorBlock<const Vector,Dimension> hector_pose_estimation::State::ConstVectorSegment

Definition at line 96 of file state.h.

typedef VectorBlock<const Vector,3> hector_pose_estimation::State::ConstVelocityType

Definition at line 106 of file state.h.

typedef SymmetricMatrix hector_pose_estimation::State::Covariance

Definition at line 93 of file state.h.

typedef Block<Covariance::Base,Dimension,Dimension> hector_pose_estimation::State::CovarianceBlock

Definition at line 95 of file state.h.

typedef VectorBlock<Vector,4> hector_pose_estimation::State::OrientationType

Definition at line 99 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::PositionType

Definition at line 103 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::RateType

Definition at line 101 of file state.h.

typedef Matrix_<3,3> hector_pose_estimation::State::RotationMatrix

Definition at line 112 of file state.h.

typedef std::vector<SubStatePtr> hector_pose_estimation::State::SubStates

Definition at line 110 of file state.h.

typedef boost::function<bool(SystemStatus&)> hector_pose_estimation::State::SystemStatusCallback

Definition at line 149 of file state.h.

typedef ColumnVector hector_pose_estimation::State::Vector

Definition at line 92 of file state.h.

typedef VectorBlock<Vector,Dimension> hector_pose_estimation::State::VectorSegment

Definition at line 94 of file state.h.

typedef VectorBlock<Vector,3> hector_pose_estimation::State::VelocityType

Definition at line 105 of file state.h.

---

Member Enumeration Documentation

enum hector_pose_estimation::State::StateIndex

Enumerator:

QUATERNION_X
QUATERNION_Y
QUATERNION_Z
QUATERNION_W
POSITION_X
POSITION_Y
POSITION_Z
VELOCITY_X
VELOCITY_Y
VELOCITY_Z
Dimension
RATE_X
RATE_Y
RATE_Z
ACCELERATION_X
ACCELERATION_Y
ACCELERATION_Z

Definition at line 64 of file state.h.

enum hector_pose_estimation::State::VectorIndex

Enumerator:

X
Y
Z
W

Definition at line 57 of file state.h.

---

Constructor & Destructor Documentation

hector_pose_estimation::State::State

(

)

Definition at line 34 of file state.cpp.

hector_pose_estimation::State::State	(	const Vector &	vector,
		const Covariance &	covariance
	)

Definition at line 42 of file state.cpp.

hector_pose_estimation::State::~State

(

)

[virtual]

Definition at line 50 of file state.cpp.

---

Member Function Documentation

virtual AccelerationType hector_pose_estimation::State::acceleration

(

)

[inline, virtual]

Definition at line 160 of file state.h.

template<int SubDimension>

boost::shared_ptr< SubState_< SubDimension > > hector_pose_estimation::State::addSubState	(	const Model *	model,
		const std::string &	name = std::string()
	)

Definition at line 134 of file substate.h.

void hector_pose_estimation::State::addSystemStatusCallback

(

const SystemStatusCallback &

callback

)

[virtual]

Definition at line 146 of file state.cpp.

virtual BaseState& hector_pose_estimation::State::base

(

)

[inline, virtual]

Definition at line 128 of file state.h.

virtual const BaseState& hector_pose_estimation::State::base

(

)

const [inline, virtual]

Definition at line 129 of file state.h.

virtual ConstAccelerationType hector_pose_estimation::State::getAcceleration

(

)

const [inline, virtual]

Definition at line 161 of file state.h.

virtual IndexType hector_pose_estimation::State::getAccelerationIndex

(

)

const [inline, virtual]

Definition at line 178 of file state.h.

virtual const Covariance& hector_pose_estimation::State::getCovariance

(

)

const [inline, virtual]

Definition at line 132 of file state.h.

virtual IndexType hector_pose_estimation::State::getDimension

(

)

const [inline, virtual]

Definition at line 120 of file state.h.

static IndexType hector_pose_estimation::State::getDimension0

(

)

[inline, static]

Definition at line 119 of file state.h.

virtual SystemStatus hector_pose_estimation::State::getMeasurementStatus

(

)

const [inline, virtual]

Definition at line 141 of file state.h.

virtual ConstOrientationType hector_pose_estimation::State::getOrientation

(

)

const [inline, virtual]

Definition at line 153 of file state.h.

virtual IndexType hector_pose_estimation::State::getOrientationIndex

(

)

const [inline, virtual]

Definition at line 174 of file state.h.

virtual ConstPositionType hector_pose_estimation::State::getPosition

(

)

const [inline, virtual]

Definition at line 157 of file state.h.

virtual IndexType hector_pose_estimation::State::getPositionIndex

(

)

const [inline, virtual]

Definition at line 176 of file state.h.

virtual ConstRateType hector_pose_estimation::State::getRate

(

)

const [inline, virtual]

Definition at line 155 of file state.h.

virtual IndexType hector_pose_estimation::State::getRateIndex

(

)

const [inline, virtual]

Definition at line 175 of file state.h.

State::RotationMatrix hector_pose_estimation::State::getRotationMatrix

(

)

const

Definition at line 88 of file state.cpp.

void hector_pose_estimation::State::getRotationMatrix

(

RotationMatrix &

R

)

const

Definition at line 94 of file state.cpp.

template<int Size>

VectorBlock<const Vector, Size> hector_pose_estimation::State::getSegment

(

IndexType

start

)

const [inline]

Definition at line 133 of file state.h.

boost::shared_ptr< BaseState > hector_pose_estimation::State::getSubState< 0 >

(

const Model *

model

)

const [inline]

Definition at line 119 of file substate.h.

template<int SubDimension>

boost::shared_ptr< SubState_< SubDimension > > hector_pose_estimation::State::getSubState

(

const std::string &

name

)

const

Definition at line 129 of file substate.h.

const SubStates& hector_pose_estimation::State::getSubStates

(

)

const [inline]

Definition at line 180 of file state.h.

virtual SystemStatus hector_pose_estimation::State::getSystemStatus

(

)

const [inline, virtual]

Definition at line 140 of file state.h.

const ros::Time& hector_pose_estimation::State::getTimestamp

(

)

const [inline]

Definition at line 185 of file state.h.

virtual const Vector& hector_pose_estimation::State::getVector

(

)

const [inline, virtual]

Definition at line 131 of file state.h.

virtual ConstVelocityType hector_pose_estimation::State::getVelocity

(

)

const [inline, virtual]

Definition at line 159 of file state.h.

virtual IndexType hector_pose_estimation::State::getVelocityIndex

(

)

const [inline, virtual]

Definition at line 177 of file state.h.

double hector_pose_estimation::State::getYaw

(

)

const

Definition at line 102 of file state.cpp.

bool hector_pose_estimation::State::inSystemStatus

(

SystemStatus

test_status

)

const [virtual]

Definition at line 108 of file state.cpp.

double hector_pose_estimation::State::normalize

(

)

[virtual]

Definition at line 152 of file state.cpp.

virtual OrientationType hector_pose_estimation::State::orientation

(

)

[inline, virtual]

Definition at line 152 of file state.h.

virtual Covariance& hector_pose_estimation::State::P

(

)

[inline, virtual]

Definition at line 136 of file state.h.

virtual CovarianceBlock hector_pose_estimation::State::P0

(

)

[inline, virtual]

Definition at line 138 of file state.h.

virtual PositionType hector_pose_estimation::State::position

(

)

[inline, virtual]

Definition at line 156 of file state.h.

virtual RateType hector_pose_estimation::State::rate

(

)

[inline, virtual]

Definition at line 154 of file state.h.

void hector_pose_estimation::State::reset

(

)

[virtual]

Definition at line 54 of file state.cpp.

template<typename Derived >

void hector_pose_estimation::State::setAcceleration

(

const Eigen::MatrixBase< Derived > &

acceleration

)

Definition at line 237 of file state.h.

bool hector_pose_estimation::State::setMeasurementStatus

(

SystemStatus

new_status

)

[virtual]

Definition at line 128 of file state.cpp.

template<typename Derived >

void hector_pose_estimation::State::setOrientation

(

const Eigen::MatrixBase< Derived > &

orientation

)

Definition at line 213 of file state.h.

template<typename Derived >

void hector_pose_estimation::State::setPosition

(

const Eigen::MatrixBase< Derived > &

position

)

Definition at line 225 of file state.h.

template<typename Derived >

void hector_pose_estimation::State::setRate

(

const Eigen::MatrixBase< Derived > &

rate

)

Definition at line 219 of file state.h.

bool hector_pose_estimation::State::setSystemStatus

(

SystemStatus

new_status

)

[virtual]

Definition at line 112 of file state.cpp.

void hector_pose_estimation::State::setTimestamp

(

const ros::Time &

timestamp

)

[inline]

Definition at line 186 of file state.h.

template<typename Derived >

void hector_pose_estimation::State::setVelocity

(

const Eigen::MatrixBase< Derived > &

velocity

)

Definition at line 231 of file state.h.

void hector_pose_estimation::State::updated

(

)

[virtual]

Definition at line 82 of file state.cpp.

bool hector_pose_estimation::State::updateMeasurementStatus	(	SystemStatus	set,
		SystemStatus	clear
	)		[virtual]

Definition at line 142 of file state.cpp.

bool hector_pose_estimation::State::updateSystemStatus	(	SystemStatus	set,
		SystemStatus	clear
	)		[virtual]

Definition at line 138 of file state.cpp.

bool hector_pose_estimation::State::valid

(

)

const [virtual]

Definition at line 78 of file state.cpp.

virtual VelocityType hector_pose_estimation::State::velocity

(

)

[inline, virtual]

Definition at line 158 of file state.h.

virtual Vector& hector_pose_estimation::State::x

(

)

[inline, virtual]

Definition at line 135 of file state.h.

virtual VectorSegment hector_pose_estimation::State::x0

(

)

[inline, virtual]

Definition at line 137 of file state.h.

---

Member Data Documentation

boost::shared_ptr<BaseState> hector_pose_estimation::State::base_ [private]

Definition at line 207 of file state.h.

Covariance hector_pose_estimation::State::covariance_ [private]

Definition at line 190 of file state.h.

Vector hector_pose_estimation::State::fake_acceleration_ [private]

Definition at line 199 of file state.h.

Vector hector_pose_estimation::State::fake_orientation_ [private]

Definition at line 195 of file state.h.

Vector hector_pose_estimation::State::fake_position_ [private]

Definition at line 197 of file state.h.

Vector hector_pose_estimation::State::fake_rate_ [private]

Definition at line 196 of file state.h.

Vector hector_pose_estimation::State::fake_velocity_ [private]

Definition at line 198 of file state.h.

SystemStatus hector_pose_estimation::State::measurement_status_ [private]

Definition at line 193 of file state.h.

std::vector<SystemStatusCallback> hector_pose_estimation::State::status_callbacks_ [private]

Definition at line 201 of file state.h.

SubStates hector_pose_estimation::State::substates_ [private]

Definition at line 203 of file state.h.

std::map<const Model *, SubStateWPtr> hector_pose_estimation::State::substates_by_model_ [private]

Definition at line 204 of file state.h.

std::map<std::string, SubStateWPtr> hector_pose_estimation::State::substates_by_name_ [private]

Definition at line 205 of file state.h.

SystemStatus hector_pose_estimation::State::system_status_ [private]

Definition at line 192 of file state.h.

ros::Time hector_pose_estimation::State::timestamp_ [private]

Definition at line 209 of file state.h.

Vector hector_pose_estimation::State::vector_ [private]

Definition at line 189 of file state.h.

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

• state.h
• substate.h
• state.cpp