Functions
GraftUKFAttitude.cpp File Reference
#include <graft/GraftUKFAttitude.h>
#include <ros/console.h>
Include dependency graph for GraftUKFAttitude.cpp:

Go to the source code of this file.

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
geometry_msgs::Vector3 normalized_acceleration (const geometry_msgs::Vector3 &accel)
Matrix< double, 4, 4 > quaternionUpdateMatrix (const double wx, const double wy, const double wz)
graft::GraftState::ConstPtr stateMsgFromMatrix (const MatrixXd &state)
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)
VectorXd verticalConcatenate (VectorXd &m, VectorXd &n)
MatrixXd verticalConcatenate (MatrixXd &m, MatrixXd &n)

Function Documentation

MatrixXd addElementToColumnMatrix ( const MatrixXd &  mat,
const double  element 
)

Definition at line 226 of file GraftUKFAttitude.cpp.

VectorXd addElementToVector ( const VectorXd &  vec,
const double  element 
)

Definition at line 215 of file GraftUKFAttitude.cpp.

void clearMessages ( std::vector< boost::shared_ptr< GraftSensor > > &  topics)

Definition at line 323 of file GraftUKFAttitude.cpp.

MatrixXd covarianceFromSigmaPoints ( std::vector< MatrixXd > &  sigma_points,
MatrixXd &  mean,
MatrixXd  process_noise,
double  n,
double  alpha,
double  beta,
double  lambda 
)

Definition at line 107 of file GraftUKFAttitude.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 117 of file GraftUKFAttitude.cpp.

std::vector<MatrixXd > generateSigmaPoints ( MatrixXd  state,
MatrixXd  covariance,
double  lambda 
)

Definition at line 74 of file GraftUKFAttitude.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 247 of file GraftUKFAttitude.cpp.

MatrixXd matrixSqrt ( MatrixXd  matrix)

< Make a reference? MatrixXd vs templated....

Definition at line 69 of file GraftUKFAttitude.cpp.

MatrixXd meanFromSigmaPoints ( std::vector< MatrixXd > &  sigma_points,
double  n,
double  lambda 
)

Combined covariancesFromSigmaPoints with crossCovariance

Definition at line 96 of file GraftUKFAttitude.cpp.

Definition at line 237 of file GraftUKFAttitude.cpp.

Matrix<double, 4, 4> quaternionUpdateMatrix ( const double  wx,
const double  wy,
const double  wz 
)

Definition at line 128 of file GraftUKFAttitude.cpp.

graft::GraftState::ConstPtr stateMsgFromMatrix ( const MatrixXd &  state)

Definition at line 175 of file GraftUKFAttitude.cpp.

Matrix<double, 4, 1> unitQuaternion ( const Matrix< double, 4, 1 > &  q)

Definition at line 137 of file GraftUKFAttitude.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 142 of file GraftUKFAttitude.cpp.

VectorXd verticalConcatenate ( VectorXd &  m,
VectorXd &  n 
)

Definition at line 49 of file GraftUKFAttitude.cpp.

MatrixXd verticalConcatenate ( MatrixXd &  m,
MatrixXd &  n 
)

Definition at line 59 of file GraftUKFAttitude.cpp.



graft
Author(s): Chad Rockey
autogenerated on Sat Jun 8 2019 10:26:16