#include <Predictor.h>

Public Member Functions
void	predictOneStep (ardrone_autonomy::Navdata *nfo)
	Predictor (std::string basePath="")
void	resetPos ()
void	setPosRPY (double newX, double newY, double newZ, double newRoll, double newPitch, double newYaw)
void	setPosSE3_droneToGlobal (TooN::SE3< double > newDroneToGlobal)
void	setPosSE3_globalToDrone (TooN::SE3< double > newGlobaltoDrone)
	~Predictor (void)
Public Attributes
TooN::SE3< double >	bottmoToGlobal
TooN::SE3< double >	droneToGlobal
TooN::SE3< double >	frontToGlobal
TooN::SE3< double >	globalToBottom
TooN::SE3< double >	globaltoDrone
TooN::SE3< double >	globalToFront
double	lastAddedDronetime
double	pitch
double	roll
double	x
double	y
double	yaw
double	z
bool	zCorrupted
double	zCorruptedJump
Static Public Attributes
static const TooN::SE3< double >	bottomToDrone = Predictor::droneToBottom.inverse()
static const TooN::SE3< double >	droneToBottom = TooN::SE3<double>(TooN::SO3<double>(TooN::makeVector(3.14159265,0,0)),TooN::makeVector(0,0,0))
static const TooN::SE3< double >	droneToFront = TooN::SE3<double>(TooN::SO3<double>(TooN::makeVector(3.14159265/2,0,0)),TooN::makeVector(0,0.025,-0.2))
static const TooN::SE3< double >	droneToFrontNT = TooN::SE3<double>(TooN::SO3<double>(TooN::makeVector(3.14159265/2,0,0)),TooN::makeVector(0,0,0))
static const TooN::SE3< double >	frontToDrone = Predictor::droneToFront.inverse()
static const TooN::SE3< double >	frontToDroneNT = Predictor::droneToFrontNT.inverse()
Private Member Functions
void	calcCombinedTransformations ()
void	calcDtGRodTransFromSE3 ()
void	calcGtDRodTransFromSE3 ()
void	calcRPYXYZFromRodDisp ()

Detailed Description

This file is part of uga_tum_ardrone.

Copyright 2012 Jakob Engel <jajuengel@gmail.com> (Technical University of Munich) Portions Copyright 2015 Kenneth Bogert <kbogert@uga.edu> and Sina Solaimanpour <sina@uga.edu> (THINC Lab, University of Georgia) For more information see <https://vision.in.tum.de/data/software/uga_tum_ardrone>.

uga_tum_ardrone is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

uga_tum_ardrone is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with uga_tum_ardrone. If not, see <http://www.gnu.org/licenses/>.

Definition at line 54 of file Predictor.h.

Constructor & Destructor Documentation

Predictor::Predictor ( std::string basePath = "" )

Definition at line 38 of file Predictor.cpp.

Predictor::~Predictor ( void )

Definition at line 46 of file Predictor.cpp.

Member Function Documentation

void Predictor::calcCombinedTransformations ( ) [private]

Definition at line 50 of file Predictor.cpp.

void Predictor::calcDtGRodTransFromSE3 ( ) [private]

void Predictor::calcGtDRodTransFromSE3 ( ) [private]

void Predictor::calcRPYXYZFromRodDisp ( ) [private]

void Predictor::predictOneStep ( ardrone_autonomy::Navdata * nfo )

Definition at line 111 of file Predictor.cpp.

void Predictor::resetPos ( )

Definition at line 150 of file Predictor.cpp.

void Predictor::setPosRPY	(	double	newX,
		double	newY,
		double	newZ,
		double	newRoll,
		double	newPitch,
		double	newYaw
	)

Definition at line 60 of file Predictor.cpp.

void Predictor::setPosSE3_droneToGlobal ( TooN::SE3< double > newDroneToGlobal )

Definition at line 94 of file Predictor.cpp.

void Predictor::setPosSE3_globalToDrone ( TooN::SE3< double > newGlobaltoDrone )

Definition at line 79 of file Predictor.cpp.

Member Data Documentation

TooN::SE3<double> Predictor::bottmoToGlobal

Definition at line 86 of file Predictor.h.

const TooN::SE3< double > Predictor::bottomToDrone = Predictor::droneToBottom.inverse() [static]

Definition at line 66 of file Predictor.h.

const TooN::SE3< double > Predictor::droneToBottom = TooN::SE3<double>(TooN::SO3<double>(TooN::makeVector(3.14159265,0,0)),TooN::makeVector(0,0,0)) [static]

This file is part of uga_tum_ardrone.

Copyright 2012 Jakob Engel <jajuengel@gmail.com> (Technical University of Munich) Portions Copyright 2015 Kenneth Bogert <kbogert@uga.edu> and Sina Solaimanpour <sina@uga.edu> (THINC Lab, University of Georgia) For more information see <https://vision.in.tum.de/data/software/uga_tum_ardrone>.

uga_tum_ardrone is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

uga_tum_ardrone is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with uga_tum_ardrone. If not, see <http://www.gnu.org/licenses/>.

Definition at line 67 of file Predictor.h.

const TooN::SE3< double > Predictor::droneToFront = TooN::SE3<double>(TooN::SO3<double>(TooN::makeVector(3.14159265/2,0,0)),TooN::makeVector(0,0.025,-0.2)) [static]

Definition at line 71 of file Predictor.h.

const TooN::SE3< double > Predictor::droneToFrontNT = TooN::SE3<double>(TooN::SO3<double>(TooN::makeVector(3.14159265/2,0,0)),TooN::makeVector(0,0,0)) [static]

Definition at line 75 of file Predictor.h.

TooN::SE3<double> Predictor::droneToGlobal

Definition at line 81 of file Predictor.h.

const TooN::SE3< double > Predictor::frontToDrone = Predictor::droneToFront.inverse() [static]

Definition at line 70 of file Predictor.h.

const TooN::SE3< double > Predictor::frontToDroneNT = Predictor::droneToFrontNT.inverse() [static]

Definition at line 74 of file Predictor.h.

TooN::SE3<double> Predictor::frontToGlobal

Definition at line 84 of file Predictor.h.

TooN::SE3<double> Predictor::globalToBottom

Definition at line 85 of file Predictor.h.

TooN::SE3<double> Predictor::globaltoDrone