hector_pose_estimation::GenericQuaternionSystemModel Class Reference

#include <generic_quaternion_system_model.h>

Inheritance diagram for hector_pose_estimation::GenericQuaternionSystemModel:

[legend]

List of all members.

Public Types
typedef ImuInput::InputVector	InputVector
Public Member Functions
virtual SymmetricMatrix	CovarianceGet (double dt) const
virtual Matrix	dfGet (unsigned int i, double dt) const
virtual ColumnVector	ExpectedValueGet (double dt) const
	GenericQuaternionSystemModel ()
double	getGravity () const
virtual std::string	getName () const
virtual SystemStatus	getStatusFlags () const
virtual bool	init ()
virtual void	Limit (StateVector &x) const
void	setGravity (double gravity)
virtual	~GenericQuaternionSystemModel ()
Static Public Attributes
static const unsigned int	InputDimension = ImuInput::InputDimension
Static Protected Member Functions
static void	normalize (StateVector &x)
Protected Attributes
double	acceleration_drift_
double	acceleration_stddev_
double	gravity_
SymmetricMatrix_< StateDimension >	noise_
double	q0
double	q1
double	q2
double	q3
double	rate_drift_
double	rate_stddev_
double	velocity_stddev_

---

Detailed Description

Definition at line 42 of file generic_quaternion_system_model.h.

---

Member Typedef Documentation

typedef ImuInput::InputVector hector_pose_estimation::GenericQuaternionSystemModel::InputVector

Definition at line 46 of file generic_quaternion_system_model.h.

---

Constructor & Destructor Documentation

hector_pose_estimation::GenericQuaternionSystemModel::GenericQuaternionSystemModel

(

)

Definition at line 35 of file generic_quaternion_system_model.cpp.

hector_pose_estimation::GenericQuaternionSystemModel::~GenericQuaternionSystemModel

(

)

[virtual]

Definition at line 75 of file generic_quaternion_system_model.cpp.

---

Member Function Documentation

SymmetricMatrix hector_pose_estimation::GenericQuaternionSystemModel::CovarianceGet

(

double

dt

)

const [virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 161 of file generic_quaternion_system_model.cpp.

Matrix hector_pose_estimation::GenericQuaternionSystemModel::dfGet	(	unsigned int	i,
		double	dt
	)			const [virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 173 of file generic_quaternion_system_model.cpp.

ColumnVector hector_pose_estimation::GenericQuaternionSystemModel::ExpectedValueGet

(

double

dt

)

const [virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 90 of file generic_quaternion_system_model.cpp.

double hector_pose_estimation::GenericQuaternionSystemModel::getGravity

(

)

const [inline, virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 63 of file generic_quaternion_system_model.h.

virtual std::string hector_pose_estimation::GenericQuaternionSystemModel::getName

(

void

)

const [inline, virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 51 of file generic_quaternion_system_model.h.

SystemStatus hector_pose_estimation::GenericQuaternionSystemModel::getStatusFlags

(

)

const [virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 79 of file generic_quaternion_system_model.cpp.

bool hector_pose_estimation::GenericQuaternionSystemModel::init

(

)

[virtual]

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 59 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::Limit

(

StateVector &

x

)

const [virtual]

Definition at line 330 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::normalize

(

StateVector &

x

)

[static, protected]

Definition at line 334 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::setGravity

(

double

gravity

)

[inline]

Definition at line 62 of file generic_quaternion_system_model.h.

---

Member Data Documentation

double hector_pose_estimation::GenericQuaternionSystemModel::acceleration_drift_ [protected]

Definition at line 76 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::acceleration_stddev_ [protected]

Definition at line 74 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::gravity_ [protected]

Definition at line 69 of file generic_quaternion_system_model.h.

const unsigned int hector_pose_estimation::GenericQuaternionSystemModel::InputDimension = ImuInput::InputDimension [static]

Definition at line 45 of file generic_quaternion_system_model.h.

SymmetricMatrix_<StateDimension> hector_pose_estimation::GenericQuaternionSystemModel::noise_ [mutable, protected]

Definition at line 80 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::q0 [mutable, protected]

Definition at line 79 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::q1 [mutable, protected]

Definition at line 79 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::q2 [mutable, protected]

Definition at line 79 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::q3 [mutable, protected]

Definition at line 79 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::rate_drift_ [protected]

Definition at line 77 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::rate_stddev_ [protected]

Definition at line 70 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::velocity_stddev_ [protected]

Definition at line 75 of file generic_quaternion_system_model.h.

---

The documentation for this class was generated from the following files:

• generic_quaternion_system_model.h
• generic_quaternion_system_model.cpp