dead_reckoning.h File Reference

#include "nav_msgs/Odometry.h"
#include "grizzly_msgs/Drive.h"
#include <grizzly_msgs/eigen.h>
#include "sensor_msgs/JointState.h"
#include <Eigen/Core>
#include <Eigen/Dense>

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Classes
class	DeadReckoning
Variables
const Eigen::MatrixXd	ODOM_POSE_COVAR_MOTION
const Eigen::MatrixXd	ODOM_POSE_COVAR_NOMOVE
const Eigen::MatrixXd	ODOM_TWIST_COVAR_MOTION
const Eigen::MatrixXd	ODOM_TWIST_COVAR_NOMOVE

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Variable Documentation

const Eigen::MatrixXd ODOM_POSE_COVAR_MOTION

Initial value:

 (Eigen::MatrixXd(6, 6) << 
  1e-3, 0,    0,   0,   0,   0, 
  0,    1e-1, 0,   0,   0,   0,
  0,    0,    1e6, 0,   0,   0,
  0,    0,    0,   1e6, 0,   0,
  0,    0,    0,   0,   1e6, 0,
  0,    0,    0,   0,   0,   0.174).finished()

Definition at line 34 of file dead_reckoning.h.

const Eigen::MatrixXd ODOM_POSE_COVAR_NOMOVE

Initial value:

 (Eigen::MatrixXd(6, 6) << 
  1e-9, 0,    0,   0,   0,   0, 
  0,    1e-9, 0,   0,   0,   0,
  0,    0,    1e6, 0,   0,   0,
  0,    0,    0,   1e6, 0,   0,
  0,    0,    0,   0,   1e6, 0,
  0,    0,    0,   0,   0,   1e-9).finished()

Definition at line 42 of file dead_reckoning.h.

const Eigen::MatrixXd ODOM_TWIST_COVAR_MOTION

Initial value:

 (Eigen::MatrixXd(6, 6) << 
  1e-3, 0,    0,   0,   0,   0, 
  0,    1e-1, 0,   0,   0,   0,
  0,    0,    1e6, 0,   0,   0,
  0,    0,    0,   1e6, 0,   0,
  0,    0,    0,   0,   1e6, 0,
  0,    0,    0,   0,   0,   0.174).finished()

Definition at line 50 of file dead_reckoning.h.

const Eigen::MatrixXd ODOM_TWIST_COVAR_NOMOVE

Initial value:

 (Eigen::MatrixXd(6, 6) << 
  1e-9, 0,    0,   0,   0,   0, 
  0,    1e-9, 0,   0,   0,   0,
  0,    0,    1e6, 0,   0,   0,
  0,    0,    0,   1e6, 0,   0,
  0,    0,    0,   0,   1e6, 0,
  0,    0,    0,   0,   0,   1e-9).finished()

Definition at line 58 of file dead_reckoning.h.