#include <GraftUKFVelocity.h>
Public Member Functions | |
| MatrixXd | f (MatrixXd x, double dt) |
| graft::GraftStatePtr | getMessageFromState () |
| graft::GraftStatePtr | getMessageFromState (Matrix< double, SIZE, 1 > &state, Matrix< double, SIZE, SIZE > &covariance) |
| GraftUKFVelocity () | |
| std::vector< MatrixXd > | predict_sigma_points (std::vector< MatrixXd > &sigma_points, double dt) |
| double | predictAndUpdate () |
| void | setAlpha (const double alpha) |
| void | setBeta (const double beta) |
| void | setInitialCovariance (std::vector< double > &P) |
| void | setKappa (const double kappa) |
| void | setProcessNoise (std::vector< double > &Q) |
| void | setTopics (std::vector< boost::shared_ptr< GraftSensor > > &topics) |
| ~GraftUKFVelocity () | |
Private Attributes | |
| double | alpha_ |
| double | beta_ |
| Matrix< double, SIZE, 1 > | graft_control_ |
| Matrix< double, SIZE, SIZE > | graft_covariance_ |
| Matrix< double, SIZE, 1 > | graft_state_ |
| double | kappa_ |
| ros::Time | last_imu_time_ |
| ros::Time | last_update_time_ |
| Matrix< double, SIZE, SIZE > | Q_ |
| std::vector< boost::shared_ptr < GraftSensor > > | topics_ |
Definition at line 51 of file GraftUKFVelocity.h.
Definition at line 37 of file GraftUKFVelocity.cpp.
Definition at line 44 of file GraftUKFVelocity.cpp.
| MatrixXd GraftUKFVelocity::f | ( | MatrixXd | x, |
| double | dt | ||
| ) |
Definition at line 114 of file GraftUKFVelocity.cpp.
| graft::GraftStatePtr GraftUKFVelocity::getMessageFromState | ( | ) |
Definition at line 138 of file GraftUKFVelocity.cpp.
| graft::GraftStatePtr GraftUKFVelocity::getMessageFromState | ( | Matrix< double, SIZE, 1 > & | state, |
| Matrix< double, SIZE, SIZE > & | covariance | ||
| ) |
Definition at line 142 of file GraftUKFVelocity.cpp.
| std::vector< MatrixXd > GraftUKFVelocity::predict_sigma_points | ( | std::vector< MatrixXd > & | sigma_points, |
| double | dt | ||
| ) |
Definition at line 130 of file GraftUKFVelocity.cpp.
| double GraftUKFVelocity::predictAndUpdate | ( | ) |
Definition at line 236 of file GraftUKFVelocity.cpp.
| void GraftUKFVelocity::setAlpha | ( | const double | alpha | ) |
Definition at line 315 of file GraftUKFVelocity.cpp.
| void GraftUKFVelocity::setBeta | ( | const double | beta | ) |
Definition at line 323 of file GraftUKFVelocity.cpp.
| void GraftUKFVelocity::setInitialCovariance | ( | std::vector< double > & | P | ) |
Definition at line 279 of file GraftUKFVelocity.cpp.
| void GraftUKFVelocity::setKappa | ( | const double | kappa | ) |
Definition at line 319 of file GraftUKFVelocity.cpp.
| void GraftUKFVelocity::setProcessNoise | ( | std::vector< double > & | Q | ) |
Definition at line 297 of file GraftUKFVelocity.cpp.
| void GraftUKFVelocity::setTopics | ( | std::vector< boost::shared_ptr< GraftSensor > > & | topics | ) |
Definition at line 275 of file GraftUKFVelocity.cpp.
double GraftUKFVelocity::alpha_ [private] |
Definition at line 89 of file GraftUKFVelocity.h.
double GraftUKFVelocity::beta_ [private] |
Definition at line 90 of file GraftUKFVelocity.h.
Matrix<double, SIZE, 1> GraftUKFVelocity::graft_control_ [private] |
Definition at line 81 of file GraftUKFVelocity.h.
Matrix<double, SIZE, SIZE> GraftUKFVelocity::graft_covariance_ [private] |
Definition at line 82 of file GraftUKFVelocity.h.
Matrix<double, SIZE, 1> GraftUKFVelocity::graft_state_ [private] |
Definition at line 80 of file GraftUKFVelocity.h.
double GraftUKFVelocity::kappa_ [private] |
Definition at line 91 of file GraftUKFVelocity.h.
ros::Time GraftUKFVelocity::last_imu_time_ [private] |
Definition at line 87 of file GraftUKFVelocity.h.
ros::Time GraftUKFVelocity::last_update_time_ [private] |
Definition at line 86 of file GraftUKFVelocity.h.
Matrix<double, SIZE, SIZE> GraftUKFVelocity::Q_ [private] |
Definition at line 84 of file GraftUKFVelocity.h.
std::vector<boost::shared_ptr<GraftSensor> > GraftUKFVelocity::topics_ [private] |
Definition at line 93 of file GraftUKFVelocity.h.