32 #include <boost/pointer_cast.hpp> 34 #ifdef USE_HECTOR_TIMING 35 #include <hector_diagnostics/timing.h> 80 #ifdef USE_HECTOR_TIMING 81 { hector_diagnostics::TimingSection section(
"predict.ekf.covariance");
84 state().
P().assertSymmetric();
86 #ifdef USE_HECTOR_TIMING 88 { hector_diagnostics::TimingSection section(
"predict.ekf.state");
92 #ifdef USE_HECTOR_TIMING #define ROS_DEBUG_STREAM_NAMED(name, args)
SymmetricMatrix Covariance
virtual bool doPredict(double dt)
virtual bool preparePredict(double dt)
virtual bool doPredict(double dt)
virtual const State & state() const
#define ROS_DEBUG_NAMED(name,...)
virtual bool init(PoseEstimation &estimator)
virtual bool preparePredict(double dt)
virtual IndexType getCovarianceDimension() const
virtual bool predict(const Systems &systems, double dt)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW EKF(State &state)
virtual IndexType getVectorDimension() const
virtual bool predict(const SystemPtr &system, double dt)
virtual void update(const Vector &vector_update)