hector_pose_estimation::PoseUpdate Class Reference

#include <poseupdate.h>

Inheritance diagram for hector_pose_estimation::PoseUpdate:

List of all members.

Classes
class	Update
Public Member Functions
	PoseUpdate (const std::string &name="poseupdate")
bool	update (PoseEstimation &estimator, const MeasurementUpdate &update)
virtual	~PoseUpdate ()
Protected Member Functions
virtual Queue &	queue ()
Protected Attributes
Queue_< Update >	queue_
Private Types
typedef boost::function< void(const SymmetricMatrix &Px, const ColumnVector &x, const ColumnVector &diff, SymmetricMatrix &Pxy, ColumnVector &xy)>	JumpFunction
Private Member Functions
double	calculateOmega (const SymmetricMatrix &Ix, const SymmetricMatrix &Iy) const
double	updateInternal (const SymmetricMatrix &Px, const ColumnVector &x, const SymmetricMatrix &Iy, const ColumnVector &error, const Matrix &H, SymmetricMatrix &Pxy, ColumnVector &xy, const std::string &text, const double max_error=0.0, JumpFunction jump_function=JumpFunction())
Private Attributes
double	fixed_alpha_
double	fixed_angular_rate_xy_stddev_
double	fixed_angular_rate_z_stddev_
double	fixed_beta_
double	fixed_position_xy_stddev_
double	fixed_position_z_stddev_
double	fixed_velocity_xy_stddev_
double	fixed_velocity_z_stddev_
double	fixed_yaw_stddev_
bool	interpret_covariance_as_information_matrix_
bool	jump_on_max_error_
double	max_angular_rate_xy_error_
double	max_angular_rate_z_error_
double	max_position_xy_error_
double	max_position_z_error_
double	max_time_difference_
double	max_velocity_xy_error_
double	max_velocity_z_error_
double	max_yaw_error_
PositionXYModel	position_xy_model_
PositionZModel	position_z_model_
TwistModel	twist_model_
YawModel	yaw_model_

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Detailed Description

Definition at line 98 of file poseupdate.h.

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Member Typedef Documentation

typedef boost::function<void(const SymmetricMatrix &Px, const ColumnVector &x, const ColumnVector &diff, SymmetricMatrix &Pxy, ColumnVector &xy)> hector_pose_estimation::PoseUpdate::JumpFunction [private]

Definition at line 149 of file poseupdate.h.

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Constructor & Destructor Documentation

hector_pose_estimation::PoseUpdate::PoseUpdate

(

const std::string &

name = "poseupdate"

)

Definition at line 38 of file poseupdate.cpp.

hector_pose_estimation::PoseUpdate::~PoseUpdate

(

)

[virtual]

Definition at line 88 of file poseupdate.cpp.

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Member Function Documentation

double hector_pose_estimation::PoseUpdate::calculateOmega	(	const SymmetricMatrix &	Ix,
		const SymmetricMatrix &	Iy
	)		const [private]

Definition at line 344 of file poseupdate.cpp.

virtual Queue& hector_pose_estimation::PoseUpdate::queue

(

)

[inline, protected, virtual]

Implements hector_pose_estimation::Measurement.

Definition at line 155 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::update	(	PoseEstimation &	estimator,
		const MeasurementUpdate &	update
	)		[virtual]

Implements hector_pose_estimation::Measurement.

Definition at line 92 of file poseupdate.cpp.

double hector_pose_estimation::PoseUpdate::updateInternal	(	const SymmetricMatrix &	Px,
		const ColumnVector &	x,
		const SymmetricMatrix &	Iy,
		const ColumnVector &	error,
		const Matrix &	H,
		SymmetricMatrix &	Pxy,
		ColumnVector &	xy,
		const std::string &	text,
		const double	max_error = 0.0,
		JumpFunction	jump_function = JumpFunction()
	)		[private]

Definition at line 350 of file poseupdate.cpp.

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Member Data Documentation

double hector_pose_estimation::PoseUpdate::fixed_alpha_ [private]

Definition at line 125 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_angular_rate_xy_stddev_ [private]

Definition at line 134 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_angular_rate_z_stddev_ [private]

Definition at line 135 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_beta_ [private]

Definition at line 125 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_position_xy_stddev_ [private]

Definition at line 128 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_position_z_stddev_ [private]

Definition at line 129 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_velocity_xy_stddev_ [private]

Definition at line 132 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_velocity_z_stddev_ [private]

Definition at line 133 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_yaw_stddev_ [private]

Definition at line 130 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::interpret_covariance_as_information_matrix_ [private]

Definition at line 126 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::jump_on_max_error_ [private]

Definition at line 147 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_angular_rate_xy_error_ [private]

Definition at line 144 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_angular_rate_z_error_ [private]

Definition at line 145 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_position_xy_error_ [private]

Definition at line 138 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_position_z_error_ [private]

Definition at line 139 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_time_difference_ [private]

Definition at line 137 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_velocity_xy_error_ [private]

Definition at line 142 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_velocity_z_error_ [private]

Definition at line 143 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_yaw_error_ [private]

Definition at line 140 of file poseupdate.h.

PositionXYModel hector_pose_estimation::PoseUpdate::position_xy_model_ [private]

Definition at line 120 of file poseupdate.h.

PositionZModel hector_pose_estimation::PoseUpdate::position_z_model_ [private]

Definition at line 121 of file poseupdate.h.

Queue_<Update> hector_pose_estimation::PoseUpdate::queue_ [protected]

Definition at line 154 of file poseupdate.h.

TwistModel hector_pose_estimation::PoseUpdate::twist_model_ [private]

Definition at line 123 of file poseupdate.h.

YawModel hector_pose_estimation::PoseUpdate::yaw_model_ [private]

Definition at line 122 of file poseupdate.h.

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

• poseupdate.h
• poseupdate.cpp