Public Member Functions | Private Attributes
GraftUKFAttitude Class Reference

#include <GraftUKFAttitude.h>

List of all members.

Public Member Functions

MatrixXd f (MatrixXd x, double dt)
graft::GraftStatePtr getMessageFromState ()
graft::GraftStatePtr getMessageFromState (Matrix< double, SIZE, 1 > &state, Matrix< double, SIZE, SIZE > &covariance)
 GraftUKFAttitude ()
std::vector< MatrixXd > predict_sigma_points (std::vector< MatrixXd > &sigma_points, double dt)
double predictAndUpdate ()
void setAlpha (const double alpha)
void setBeta (const double beta)
void setInitialCovariance (std::vector< double > &P)
void setKappa (const double kappa)
void setProcessNoise (std::vector< double > &Q)
void setTopics (std::vector< boost::shared_ptr< GraftSensor > > &topics)
 ~GraftUKFAttitude ()

Private Attributes

double alpha_
double beta_
Matrix< double, SIZE, 1 > graft_control_
Matrix< double, SIZE, SIZEgraft_covariance_
Matrix< double, SIZE, 1 > graft_state_
double kappa_
ros::Time last_imu_time_
ros::Time last_update_time_
Matrix< double, SIZE, SIZEQ_
std::vector< boost::shared_ptr
< GraftSensor > > 
topics_

Detailed Description

Definition at line 51 of file GraftUKFAttitude.h.


Constructor & Destructor Documentation

Definition at line 37 of file GraftUKFAttitude.cpp.

Definition at line 45 of file GraftUKFAttitude.cpp.


Member Function Documentation

MatrixXd GraftUKFAttitude::f ( MatrixXd  x,
double  dt 
)

Definition at line 164 of file GraftUKFAttitude.cpp.

graft::GraftStatePtr GraftUKFAttitude::getMessageFromState ( )

Definition at line 195 of file GraftUKFAttitude.cpp.

graft::GraftStatePtr GraftUKFAttitude::getMessageFromState ( Matrix< double, SIZE, 1 > &  state,
Matrix< double, SIZE, SIZE > &  covariance 
)

Definition at line 199 of file GraftUKFAttitude.cpp.

std::vector< MatrixXd > GraftUKFAttitude::predict_sigma_points ( std::vector< MatrixXd > &  sigma_points,
double  dt 
)

Definition at line 187 of file GraftUKFAttitude.cpp.

Definition at line 329 of file GraftUKFAttitude.cpp.

void GraftUKFAttitude::setAlpha ( const double  alpha)

Definition at line 409 of file GraftUKFAttitude.cpp.

void GraftUKFAttitude::setBeta ( const double  beta)

Definition at line 417 of file GraftUKFAttitude.cpp.

void GraftUKFAttitude::setInitialCovariance ( std::vector< double > &  P)

Definition at line 373 of file GraftUKFAttitude.cpp.

void GraftUKFAttitude::setKappa ( const double  kappa)

Definition at line 413 of file GraftUKFAttitude.cpp.

void GraftUKFAttitude::setProcessNoise ( std::vector< double > &  Q)

Definition at line 391 of file GraftUKFAttitude.cpp.

void GraftUKFAttitude::setTopics ( std::vector< boost::shared_ptr< GraftSensor > > &  topics)

Definition at line 369 of file GraftUKFAttitude.cpp.


Member Data Documentation

double GraftUKFAttitude::alpha_ [private]

Definition at line 89 of file GraftUKFAttitude.h.

double GraftUKFAttitude::beta_ [private]

Definition at line 90 of file GraftUKFAttitude.h.

Matrix<double, SIZE, 1> GraftUKFAttitude::graft_control_ [private]

Definition at line 81 of file GraftUKFAttitude.h.

Matrix<double, SIZE, SIZE> GraftUKFAttitude::graft_covariance_ [private]

Definition at line 82 of file GraftUKFAttitude.h.

Matrix<double, SIZE, 1> GraftUKFAttitude::graft_state_ [private]

Definition at line 80 of file GraftUKFAttitude.h.

double GraftUKFAttitude::kappa_ [private]

Definition at line 91 of file GraftUKFAttitude.h.

Definition at line 87 of file GraftUKFAttitude.h.

Definition at line 86 of file GraftUKFAttitude.h.

Matrix<double, SIZE, SIZE> GraftUKFAttitude::Q_ [private]

Definition at line 84 of file GraftUKFAttitude.h.

std::vector<boost::shared_ptr<GraftSensor> > GraftUKFAttitude::topics_ [private]

Definition at line 93 of file GraftUKFAttitude.h.


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


graft
Author(s): Chad Rockey
autogenerated on Sat Jun 8 2019 10:26:16