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Functions | |
| MatrixXd | addElementToColumnMatrix (const MatrixXd &mat, const double &element) |
| VectorXd | addElementToVector (const VectorXd &vec, const double &element) |
| void | clearMessages (std::vector< boost::shared_ptr< GraftSensor > > &topics) |
| MatrixXd | covarianceFromSigmaPoints (std::vector< MatrixXd > &sigma_points, MatrixXd &mean, MatrixXd process_noise, double n, double alpha, double beta, double lambda) |
| MatrixXd | crossCovariance (std::vector< MatrixXd > &sigma_points, MatrixXd &mean, std::vector< MatrixXd > &meas_sigma_points, MatrixXd &meas_mean, double alpha, double beta, double lambda) |
| std::vector< MatrixXd > | generateSigmaPoints (MatrixXd state, MatrixXd covariance, double lambda) |
| VectorXd | getMeasurements (const std::vector< boost::shared_ptr< GraftSensor > > &topics, const std::vector< MatrixXd > &predicted_sigma_points, std::vector< MatrixXd > &output_measurement_sigmas, MatrixXd &output_innovation_covariance) |
| MatrixXd | matrixSqrt (MatrixXd matrix) |
| MatrixXd | meanFromSigmaPoints (std::vector< MatrixXd > &sigma_points, double n, double lambda) |
| Combined covariancesFromSigmaPoints with crossCovariance | |
| Matrix< double, 4, 4 > | quaternionUpdateMatrix (const double wx, const double wy, const double wz) |
| graft::GraftState::ConstPtr | stateMsgFromMatrix (const MatrixXd &state) |
| MatrixXd | transformVelocitites (const MatrixXd vel, const MatrixXd quaternion) |
| Matrix< double, 4, 1 > | unitQuaternion (const Matrix< double, 4, 1 > &q) |
| Matrix< double, 4, 1 > | updatedQuaternion (const Matrix< double, 4, 1 > &q, const double wx, const double wy, const double wz, double dt) |
| MatrixXd | verticalConcatenate (MatrixXd &m, MatrixXd &n) |
Function Documentation
| MatrixXd addElementToColumnMatrix | ( | const MatrixXd & | mat, |
| const double & | element | ||
| ) |
Definition at line 246 of file GraftUKFAbsolute.cpp.
| VectorXd addElementToVector | ( | const VectorXd & | vec, |
| const double & | element | ||
| ) |
Definition at line 240 of file GraftUKFAbsolute.cpp.
| void clearMessages | ( | std::vector< boost::shared_ptr< GraftSensor > > & | topics | ) |
Definition at line 364 of file GraftUKFAbsolute.cpp.
| MatrixXd covarianceFromSigmaPoints | ( | std::vector< MatrixXd > & | sigma_points, |
| MatrixXd & | mean, | ||
| MatrixXd | process_noise, | ||
| double | n, | ||
| double | alpha, | ||
| double | beta, | ||
| double | lambda | ||
| ) |
Definition at line 93 of file GraftUKFAbsolute.cpp.
| MatrixXd crossCovariance | ( | std::vector< MatrixXd > & | sigma_points, |
| MatrixXd & | mean, | ||
| std::vector< MatrixXd > & | meas_sigma_points, | ||
| MatrixXd & | meas_mean, | ||
| double | alpha, | ||
| double | beta, | ||
| double | lambda | ||
| ) |
Definition at line 103 of file GraftUKFAbsolute.cpp.
| std::vector<MatrixXd > generateSigmaPoints | ( | MatrixXd | state, |
| MatrixXd | covariance, | ||
| double | lambda | ||
| ) |
Definition at line 61 of file GraftUKFAbsolute.cpp.
| VectorXd getMeasurements | ( | const std::vector< boost::shared_ptr< GraftSensor > > & | topics, |
| const std::vector< MatrixXd > & | predicted_sigma_points, | ||
| std::vector< MatrixXd > & | output_measurement_sigmas, | ||
| MatrixXd & | output_innovation_covariance | ||
| ) |
Definition at line 258 of file GraftUKFAbsolute.cpp.
| MatrixXd matrixSqrt | ( | MatrixXd | matrix | ) |
< Make a reference? MatrixXd vs templated....
Definition at line 56 of file GraftUKFAbsolute.cpp.
| MatrixXd meanFromSigmaPoints | ( | std::vector< MatrixXd > & | sigma_points, |
| double | n, | ||
| double | lambda | ||
| ) |
Combined covariancesFromSigmaPoints with crossCovariance
Definition at line 82 of file GraftUKFAbsolute.cpp.
| Matrix<double, 4, 4> quaternionUpdateMatrix | ( | const double | wx, |
| const double | wy, | ||
| const double | wz | ||
| ) |
Definition at line 114 of file GraftUKFAbsolute.cpp.
| graft::GraftState::ConstPtr stateMsgFromMatrix | ( | const MatrixXd & | state | ) |
Definition at line 188 of file GraftUKFAbsolute.cpp.
| MatrixXd transformVelocitites | ( | const MatrixXd | vel, |
| const MatrixXd | quaternion | ||
| ) |
Definition at line 150 of file GraftUKFAbsolute.cpp.
| Matrix<double, 4, 1> unitQuaternion | ( | const Matrix< double, 4, 1 > & | q | ) |
Definition at line 123 of file GraftUKFAbsolute.cpp.
| Matrix<double, 4, 1> updatedQuaternion | ( | const Matrix< double, 4, 1 > & | q, |
| const double | wx, | ||
| const double | wy, | ||
| const double | wz, | ||
| double | dt | ||
| ) |
Definition at line 128 of file GraftUKFAbsolute.cpp.
| MatrixXd verticalConcatenate | ( | MatrixXd & | m, |
| MatrixXd & | n | ||
| ) |
Definition at line 49 of file GraftUKFAbsolute.cpp.