#include <pose_estimation.h>

Public Types
typedef boost::function< bool(SystemStatus &)>	SystemStatusCallback
Public Member Functions
virtual const MeasurementPtr &	addMeasurement (const MeasurementPtr &measurement)
virtual const MeasurementPtr &	addMeasurement (Measurement *measurement)
virtual const MeasurementPtr &	addMeasurement (const std::string &name, const MeasurementPtr &measurement)
template<class ConcreteMeasurementModel >
const MeasurementPtr &	addMeasurement (const std::string &name, ConcreteMeasurementModel *model)
virtual void	cleanup ()
virtual BFL::KalmanFilter *	filter ()
virtual const BFL::KalmanFilter *	filter () const
virtual void	getBias (tf::Vector3 &angular_velocity, tf::Vector3 &linear_acceleration)
virtual void	getBias (tf::Stamped< tf::Vector3 > &angular_velocity, tf::Stamped< tf::Vector3 > &linear_acceleration)
virtual void	getBias (geometry_msgs::Vector3 &angular_velocity, geometry_msgs::Vector3 &linear_acceleration)
virtual void	getBias (geometry_msgs::Vector3Stamped &angular_velocity, geometry_msgs::Vector3Stamped &linear_acceleration)
virtual const StateCovariance &	getCovariance ()
virtual void	getGlobalPosition (double &latitude, double &longitude, double &altitude)
virtual void	getGlobalPosition (sensor_msgs::NavSatFix &global)
virtual void	getHeader (std_msgs::Header &header)
virtual void	getImuWithBiases (geometry_msgs::Vector3 &linear_acceleration, geometry_msgs::Vector3 &angular_velocity)
virtual MeasurementPtr	getMeasurement (const std::string &name) const
virtual SystemStatus	getMeasurementStatus () const
virtual void	getOrientation (tf::Quaternion &quaternion)
virtual void	getOrientation (tf::Stamped< tf::Quaternion > &quaternion)
virtual void	getOrientation (geometry_msgs::Quaternion &pose)
virtual void	getOrientation (geometry_msgs::QuaternionStamped &pose)
virtual void	getOrientation (double &yaw, double &pitch, double &roll)
virtual ParameterList	getParameters () const
virtual void	getPose (tf::Pose &pose)
virtual void	getPose (tf::Stamped< tf::Pose > &pose)
virtual void	getPose (geometry_msgs::Pose &pose)
virtual void	getPose (geometry_msgs::PoseStamped &pose)
virtual void	getPosition (tf::Point &point)
virtual void	getPosition (tf::Stamped< tf::Point > &point)
virtual void	getPosition (geometry_msgs::Point &pose)
virtual void	getPosition (geometry_msgs::PointStamped &pose)
virtual void	getRate (tf::Vector3 &vector)
virtual void	getRate (tf::Stamped< tf::Vector3 > &vector)
virtual void	getRate (geometry_msgs::Vector3 &vector)
virtual void	getRate (geometry_msgs::Vector3Stamped &vector)
virtual const StateVector &	getState ()
virtual void	getState (nav_msgs::Odometry &state, bool with_covariances=true)
virtual const SystemPtr &	getSystem () const
virtual const SystemModel *	getSystemModel () const
virtual SystemStatus	getSystemStatus () const
virtual ros::Time	getTimestamp () const
virtual void	getTransforms (std::vector< tf::StampedTransform > &transforms)
virtual void	getVelocity (tf::Vector3 &vector)
virtual void	getVelocity (tf::Stamped< tf::Vector3 > &vector)
virtual void	getVelocity (geometry_msgs::Vector3 &vector)
virtual void	getVelocity (geometry_msgs::Vector3Stamped &vector)
virtual GlobalReference *	globalReference ()
virtual bool	init ()
virtual bool	inSystemStatus (SystemStatus test_status) const
virtual ParameterList &	parameters ()
virtual const ParameterList &	parameters () const
	PoseEstimation (const SystemPtr &system=SystemPtr())
template<typename ConcreteSystemModel >
	PoseEstimation (ConcreteSystemModel *system_model)
virtual void	reset ()
virtual void	setCovariance (const StateCovariance &covariance)
virtual bool	setMeasurementStatus (SystemStatus new_status)
virtual void	setState (const StateVector &state)
virtual const SystemPtr &	setSystem (const SystemPtr &system)
virtual const SystemPtr &	setSystem (System *system)
template<typename ConcreteSystemModel >
const SystemPtr &	setSystemModel (ConcreteSystemModel *system_model, const std::string &name="system")
virtual bool	setSystemStatus (SystemStatus new_status)
virtual void	setSystemStatusCallback (SystemStatusCallback callback)
virtual void	setTimestamp (ros::Time timestamp)
virtual void	update (const SystemInput &input, ros::Time timestamp)
virtual void	update (double dt)
virtual void	updated ()
virtual bool	updateMeasurementStatus (SystemStatus set, SystemStatus clear)
virtual bool	updateSystemStatus (SystemStatus set, SystemStatus clear)
virtual void	updateWorldToOtherTransform (tf::StampedTransform &world_to_other_transform)
virtual	~PoseEstimation ()
Static Public Member Functions
static PoseEstimation *	Instance ()
Protected Types
typedef std::vector < MeasurementPtr >	Measurements
Protected Attributes
Measurements	measurements_
SystemPtr	system_
Private Attributes
ros::Time	alignment_start_
double	alignment_time_
std::string	base_frame_
StateCovariance	covariance_
bool	covariance_is_dirty_
boost::shared_ptr < BFL::ExtendedKalmanFilter >	filter_
std::string	footprint_frame_
GlobalReference	global_reference_
boost::shared_ptr< Gravity >	gravity_
SystemStatus	measurement_status_
std::string	nav_frame_
ParameterList	parameters_
std::string	position_frame_
boost::shared_ptr< Rate >	rate_
std::string	stabilized_frame_
StateVector	state_
bool	state_is_dirty_
SystemStatus	status_
SystemStatusCallback	status_callback_
ros::Time	timestamp_
std::string	world_frame_
boost::shared_ptr< ZeroRate >	zerorate_

Detailed Description

Definition at line 61 of file pose_estimation.h.

Member Typedef Documentation

typedef std::vector<MeasurementPtr> hector_pose_estimation::PoseEstimation::Measurements [protected]

Definition at line 159 of file pose_estimation.h.

typedef boost::function<bool(SystemStatus&)> hector_pose_estimation::PoseEstimation::SystemStatusCallback

Definition at line 106 of file pose_estimation.h.

Constructor & Destructor Documentation

hector_pose_estimation::PoseEstimation::PoseEstimation ( const SystemPtr & system = SystemPtr() )

Definition at line 38 of file pose_estimation.cpp.

template<typename ConcreteSystemModel >

hector_pose_estimation::PoseEstimation::PoseEstimation ( ConcreteSystemModel * system_model )

Definition at line 203 of file pose_estimation.h.

hector_pose_estimation::PoseEstimation::~PoseEstimation ( ) [virtual]

Definition at line 75 of file pose_estimation.cpp.

Member Function Documentation

const MeasurementPtr & hector_pose_estimation::PoseEstimation::addMeasurement ( const MeasurementPtr & measurement ) [virtual]

Definition at line 290 of file pose_estimation.cpp.

const MeasurementPtr & hector_pose_estimation::PoseEstimation::addMeasurement ( Measurement * measurement ) [virtual]

Definition at line 300 of file pose_estimation.cpp.

const MeasurementPtr & hector_pose_estimation::PoseEstimation::addMeasurement	(	const std::string &	name,
		const MeasurementPtr &	measurement
	)		`[virtual]`

Definition at line 295 of file pose_estimation.cpp.

template<class ConcreteMeasurementModel >

const MeasurementPtr& hector_pose_estimation::PoseEstimation::addMeasurement	(	const std::string &	name,
		ConcreteMeasurementModel *	model
	)		`[inline]`

Definition at line 89 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::cleanup ( ) [virtual]

Definition at line 106 of file pose_estimation.cpp.

virtual BFL::KalmanFilter* hector_pose_estimation::PoseEstimation::filter ( ) [inline, virtual]

Definition at line 152 of file pose_estimation.h.

virtual const BFL::KalmanFilter* hector_pose_estimation::PoseEstimation::filter ( ) const [inline, virtual]

Definition at line 153 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::getBias	(	tf::Vector3 &	angular_velocity,
		tf::Vector3 &	linear_acceleration
	)		`[virtual]`

Definition at line 674 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getBias	(	tf::Stamped< tf::Vector3 > &	angular_velocity,
		tf::Stamped< tf::Vector3 > &	linear_acceleration
	)		`[virtual]`

Definition at line 684 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getBias	(	geometry_msgs::Vector3 &	angular_velocity,
		geometry_msgs::Vector3 &	linear_acceleration
	)		`[virtual]`

Definition at line 692 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getBias	(	geometry_msgs::Vector3Stamped &	angular_velocity,
		geometry_msgs::Vector3Stamped &	linear_acceleration
	)		`[virtual]`

Definition at line 702 of file pose_estimation.cpp.

const StateCovariance & hector_pose_estimation::PoseEstimation::getCovariance ( ) [virtual]

Definition at line 319 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobalPosition	(	double &	latitude,
		double &	longitude,
		double &	altitude
	)		`[virtual]`

Definition at line 516 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getGlobalPosition ( sensor_msgs::NavSatFix & global ) [virtual]

Definition at line 525 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getHeader ( std_msgs::Header & header ) [virtual]

Definition at line 393 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getImuWithBiases	(	geometry_msgs::Vector3 &	linear_acceleration,
		geometry_msgs::Vector3 &	angular_velocity
	)		`[virtual]`

Definition at line 575 of file pose_estimation.cpp.

MeasurementPtr hector_pose_estimation::PoseEstimation::getMeasurement ( const std::string & name ) const [virtual]

Definition at line 304 of file pose_estimation.cpp.

SystemStatus hector_pose_estimation::PoseEstimation::getMeasurementStatus ( ) const [virtual]

Definition at line 343 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( tf::Quaternion & quaternion ) [virtual]

Definition at line 541 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( tf::Stamped< tf::Quaternion > & quaternion ) [virtual]

Definition at line 546 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( geometry_msgs::Quaternion & pose ) [virtual]

Definition at line 552 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation ( geometry_msgs::QuaternionStamped & pose ) [virtual]

Definition at line 560 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getOrientation	(	double &	yaw,
		double &	pitch,
		double &	roll
	)		`[virtual]`

Definition at line 565 of file pose_estimation.cpp.

ParameterList hector_pose_estimation::PoseEstimation::getParameters ( ) const [virtual]

Definition at line 790 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPose ( tf::Pose & pose ) [virtual]

Definition at line 470 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPose ( tf::Stamped< tf::Pose > & pose ) [virtual]

Definition at line 477 of file pose_estimation.cpp.

virtual void hector_pose_estimation::PoseEstimation::getPose ( geometry_msgs::Pose & pose ) [virtual]

void hector_pose_estimation::PoseEstimation::getPose ( geometry_msgs::PoseStamped & pose ) [virtual]

Definition at line 488 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPosition ( tf::Point & point ) [virtual]

Definition at line 493 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getPosition ( tf::Stamped< tf::Point > & point ) [virtual]

Definition at line 498 of file pose_estimation.cpp.

virtual void hector_pose_estimation::PoseEstimation::getPosition ( geometry_msgs::Point & pose ) [virtual]

void hector_pose_estimation::PoseEstimation::getPosition ( geometry_msgs::PointStamped & pose ) [virtual]

Definition at line 511 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( tf::Vector3 & vector ) [virtual]

Definition at line 629 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( tf::Stamped< tf::Vector3 > & vector ) [virtual]

Definition at line 643 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( geometry_msgs::Vector3 & vector ) [virtual]

Definition at line 649 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getRate ( geometry_msgs::Vector3Stamped & vector ) [virtual]

Definition at line 669 of file pose_estimation.cpp.

const StateVector & hector_pose_estimation::PoseEstimation::getState ( ) [virtual]

Definition at line 311 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getState	(	nav_msgs::Odometry &	state,
		bool	with_covariances = `true`
	)		`[virtual]`

Definition at line 398 of file pose_estimation.cpp.

const SystemPtr & hector_pose_estimation::PoseEstimation::getSystem ( ) const [virtual]

Definition at line 286 of file pose_estimation.cpp.

const SystemModel * hector_pose_estimation::PoseEstimation::getSystemModel ( ) const [virtual]

Definition at line 281 of file pose_estimation.cpp.

SystemStatus hector_pose_estimation::PoseEstimation::getSystemStatus ( ) const [virtual]

Definition at line 339 of file pose_estimation.cpp.

ros::Time hector_pose_estimation::PoseEstimation::getTimestamp ( ) const [virtual]

Definition at line 385 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getTransforms ( std::vector< tf::StampedTransform > & transforms ) [virtual]

Definition at line 710 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( tf::Vector3 & vector ) [virtual]

Definition at line 606 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( tf::Stamped< tf::Vector3 > & vector ) [virtual]

Definition at line 611 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( geometry_msgs::Vector3 & vector ) [virtual]

Definition at line 617 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::getVelocity ( geometry_msgs::Vector3Stamped & vector ) [virtual]

Definition at line 624 of file pose_estimation.cpp.

GlobalReference * hector_pose_estimation::PoseEstimation::globalReference ( ) [virtual]

Definition at line 804 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::init ( ) [virtual]

Definition at line 85 of file pose_estimation.cpp.

PoseEstimation * hector_pose_estimation::PoseEstimation::Instance ( ) [static]

Definition at line 80 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::inSystemStatus ( SystemStatus test_status ) const [virtual]

Definition at line 347 of file pose_estimation.cpp.

virtual ParameterList& hector_pose_estimation::PoseEstimation::parameters ( ) [inline, virtual]

Definition at line 149 of file pose_estimation.h.

virtual const ParameterList& hector_pose_estimation::PoseEstimation::parameters ( ) const [inline, virtual]

Definition at line 150 of file pose_estimation.h.

void hector_pose_estimation::PoseEstimation::reset ( ) [virtual]

Definition at line 118 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::setCovariance ( const StateCovariance & covariance ) [virtual]

Definition at line 333 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::setMeasurementStatus ( SystemStatus new_status ) [virtual]

Definition at line 363 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::setState ( const StateVector & state ) [virtual]

Definition at line 327 of file pose_estimation.cpp.

const SystemPtr & hector_pose_estimation::PoseEstimation::setSystem ( const SystemPtr & system ) [virtual]

Definition at line 267 of file pose_estimation.cpp.

const SystemPtr & hector_pose_estimation::PoseEstimation::setSystem ( System * system ) [virtual]

Definition at line 277 of file pose_estimation.cpp.

template<typename ConcreteSystemModel >

const SystemPtr & hector_pose_estimation::PoseEstimation::setSystemModel	(	ConcreteSystemModel *	system_model,
		const std::string &	name = `"system"`
	)

Definition at line 196 of file pose_estimation.h.

bool hector_pose_estimation::PoseEstimation::setSystemStatus ( SystemStatus new_status ) [virtual]

Definition at line 351 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::setSystemStatusCallback ( SystemStatusCallback callback ) [virtual]

Definition at line 381 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::setTimestamp ( ros::Time timestamp ) [virtual]

Definition at line 389 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::update	(	const SystemInput &	input,
		ros::Time	timestamp
	)		`[virtual]`

Definition at line 144 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::update ( double dt ) [virtual]

Definition at line 160 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::updated ( ) [virtual]

Definition at line 262 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::updateMeasurementStatus	(	SystemStatus	set,
		SystemStatus	clear
	)		`[virtual]`

Definition at line 377 of file pose_estimation.cpp.

bool hector_pose_estimation::PoseEstimation::updateSystemStatus	(	SystemStatus	set,
		SystemStatus	clear
	)		`[virtual]`

Definition at line 373 of file pose_estimation.cpp.

void hector_pose_estimation::PoseEstimation::updateWorldToOtherTransform ( tf::StampedTransform & world_to_other_transform ) [virtual]

Definition at line 778 of file pose_estimation.cpp.

Member Data Documentation

ros::Time hector_pose_estimation::PoseEstimation::alignment_start_ [private]

Definition at line 184 of file pose_estimation.h.

double hector_pose_estimation::PoseEstimation::alignment_time_ [private]

Definition at line 185 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::base_frame_ [private]

Definition at line 179 of file pose_estimation.h.

StateCovariance hector_pose_estimation::PoseEstimation::covariance_ [private]

Definition at line 166 of file pose_estimation.h.

bool hector_pose_estimation::PoseEstimation::covariance_is_dirty_ [private]

Definition at line 168 of file pose_estimation.h.

boost::shared_ptr<BFL::ExtendedKalmanFilter> hector_pose_estimation::PoseEstimation::filter_ [private]

Definition at line 163 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::footprint_frame_ [private]

Definition at line 181 of file pose_estimation.h.

GlobalReference hector_pose_estimation::PoseEstimation::global_reference_ [private]

Definition at line 174 of file pose_estimation.h.

boost::shared_ptr<Gravity> hector_pose_estimation::PoseEstimation::gravity_ [private]

Definition at line 190 of file pose_estimation.h.

SystemStatus hector_pose_estimation::PoseEstimation::measurement_status_ [private]

Definition at line 171 of file pose_estimation.h.

Measurements hector_pose_estimation::PoseEstimation::measurements_ [protected]

Definition at line 160 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::nav_frame_ [private]

Definition at line 178 of file pose_estimation.h.

ParameterList hector_pose_estimation::PoseEstimation::parameters_ [private]

Definition at line 172 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::position_frame_ [private]

Definition at line 182 of file pose_estimation.h.

boost::shared_ptr<Rate> hector_pose_estimation::PoseEstimation::rate_ [private]

Definition at line 189 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::stabilized_frame_ [private]

Definition at line 180 of file pose_estimation.h.

StateVector hector_pose_estimation::PoseEstimation::state_ [private]

Definition at line 165 of file pose_estimation.h.

bool hector_pose_estimation::PoseEstimation::state_is_dirty_ [private]

Definition at line 167 of file pose_estimation.h.

SystemStatus hector_pose_estimation::PoseEstimation::status_ [private]

Definition at line 170 of file pose_estimation.h.

SystemStatusCallback hector_pose_estimation::PoseEstimation::status_callback_ [private]

Definition at line 187 of file pose_estimation.h.

SystemPtr hector_pose_estimation::PoseEstimation::system_ [protected]

Definition at line 158 of file pose_estimation.h.

ros::Time hector_pose_estimation::PoseEstimation::timestamp_ [private]

Definition at line 176 of file pose_estimation.h.

std::string hector_pose_estimation::PoseEstimation::world_frame_ [private]

Definition at line 177 of file pose_estimation.h.

boost::shared_ptr<ZeroRate> hector_pose_estimation::PoseEstimation::zerorate_ [private]

Definition at line 191 of file pose_estimation.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Types

Protected Attributes

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation