#include <generic_quaternion_system_model.h>

Inheritance diagram for hector_pose_estimation::GenericQuaternionSystemModel:

[legend]

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	GenericQuaternionSystemModel ()

virtual void	getDerivative (StateVector &x_dot, const State &state)

virtual void	getPrior (State &state)

virtual void	getStateJacobian (SystemMatrix &A, const State &state, bool init=true)

virtual SystemStatus	getStatusFlags (const State &state)

virtual void	getSystemNoise (NoiseVariance &Q, const State &state, bool init=true)

virtual bool	init (PoseEstimation &estimator, System &system, State &state)

bool	prepareUpdate (State &state, double dt)

virtual	~GenericQuaternionSystemModel ()

Public Member Functions inherited from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >
void	getExpectedDiff (StateVector &x_diff, const State &state, double dt)

virtual void	getInputJacobian (InputMatrix &B, const State &state, bool init=true)

void	getInputJacobian (InputMatrix &B, const State &state, double dt, bool init=true)

void	getStateJacobian (SystemMatrix &A, const State &state, double dt, bool init=true)

void	getSystemNoise (NoiseVariance &Q, const State &state, double dt, bool init=true)

virtual SystemModel::SystemTypeEnum	getSystemType () const

	TimeContinuousSystemModel_ ()

virtual	~TimeContinuousSystemModel_ ()

Public Member Functions inherited from hector_pose_estimation::SystemModel_< GenericQuaternionSystemModel, Dynamic, Dynamic >
GenericQuaternionSystemModel *	derived ()

const GenericQuaternionSystemModel *	derived () const

virtual	~SystemModel_ ()

Public Member Functions inherited from hector_pose_estimation::SystemModel
virtual bool	active (const State &state)

virtual void	afterUpdate (State &state)

virtual bool	limitState (State &state)

virtual	~SystemModel ()

Public Member Functions inherited from hector_pose_estimation::Model
virtual void	cleanup ()

ParameterList &	parameters ()

const ParameterList &	parameters () const

virtual void	reset (State &state)

virtual	~Model ()

Protected Types
typedef Input_< 3 >	ForceInput

typedef Input_< 3 >	RateInput

typedef Input_< 3 >	TorqueInput

Protected Attributes
ColumnVector3	acceleration_nav_

double	acceleration_stddev_

boost::shared_ptr< Accelerometer >	accelerometer_

double	angular_acceleration_stddev_

ForceInput::Ptr	force_input_

AliasT< double >	gravity_

boost::shared_ptr< Gyro >	gyro_

boost::shared_ptr< ImuInput >	imu_

RateInput::Ptr	rate_input_

ColumnVector3	rate_nav_

double	rate_stddev_

TorqueInput::Ptr	torque_input_

double	velocity_stddev_

Protected Attributes inherited from hector_pose_estimation::Model
ParameterList	parameters_

Additional Inherited Members
Public Types inherited from hector_pose_estimation::SystemModel
enum	SystemTypeEnum { UNKNOWN_SYSTEM_TYPE, TIME_DISCRETE, TIME_CONTINUOUS }

Detailed Description

Definition at line 51 of file generic_quaternion_system_model.h.

Member Typedef Documentation

typedef Input_<3> hector_pose_estimation::GenericQuaternionSystemModel::ForceInput

protected

Definition at line 96 of file generic_quaternion_system_model.h.

typedef Input_<3> hector_pose_estimation::GenericQuaternionSystemModel::RateInput

protected

Definition at line 94 of file generic_quaternion_system_model.h.

typedef Input_<3> hector_pose_estimation::GenericQuaternionSystemModel::TorqueInput

protected

Definition at line 92 of file generic_quaternion_system_model.h.

Constructor & Destructor Documentation

hector_pose_estimation::GenericQuaternionSystemModel::GenericQuaternionSystemModel ( )

Definition at line 38 of file generic_quaternion_system_model.cpp.

hector_pose_estimation::GenericQuaternionSystemModel::~GenericQuaternionSystemModel ( )

virtual

Definition at line 52 of file generic_quaternion_system_model.cpp.

Member Function Documentation

void hector_pose_estimation::GenericQuaternionSystemModel::getDerivative	(	StateVector &	x_dot,
		const State &	state
	)

virtual

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 167 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::getPrior ( State & state )

virtual

Reimplemented from hector_pose_estimation::SystemModel_< GenericQuaternionSystemModel, Dynamic, Dynamic >.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 102 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::getStateJacobian	(	SystemMatrix &	A,
		const State &	state,
		bool	init = `true`
	)

virtual

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 263 of file generic_quaternion_system_model.cpp.

SystemStatus hector_pose_estimation::GenericQuaternionSystemModel::getStatusFlags ( const State & state )

virtual

Reimplemented from hector_pose_estimation::SystemModel.

Reimplemented in hector_pose_estimation::GroundVehicleModel.

Definition at line 321 of file generic_quaternion_system_model.cpp.

void hector_pose_estimation::GenericQuaternionSystemModel::getSystemNoise	(	NoiseVariance &	Q,
		const State &	state,
		bool	init = `true`
	)

virtual

Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GenericQuaternionSystemModel >.

Definition at line 209 of file generic_quaternion_system_model.cpp.

bool hector_pose_estimation::GenericQuaternionSystemModel::init	(	PoseEstimation &	estimator,
		System &	system,
		State &	state
	)

virtual

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 56 of file generic_quaternion_system_model.cpp.

bool hector_pose_estimation::GenericQuaternionSystemModel::prepareUpdate	(	State &	state,
		double	dt
	)

virtual

Reimplemented from hector_pose_estimation::SystemModel.

Definition at line 128 of file generic_quaternion_system_model.cpp.

Member Data Documentation

ColumnVector3 hector_pose_estimation::GenericQuaternionSystemModel::acceleration_nav_

protected

Definition at line 89 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::acceleration_stddev_

protected

Definition at line 80 of file generic_quaternion_system_model.h.

boost::shared_ptr<Accelerometer> hector_pose_estimation::GenericQuaternionSystemModel::accelerometer_

protected

Definition at line 86 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::angular_acceleration_stddev_

protected

Definition at line 81 of file generic_quaternion_system_model.h.

ForceInput::Ptr hector_pose_estimation::GenericQuaternionSystemModel::force_input_

protected

Definition at line 97 of file generic_quaternion_system_model.h.

AliasT<double> hector_pose_estimation::GenericQuaternionSystemModel::gravity_

protected

Definition at line 78 of file generic_quaternion_system_model.h.

boost::shared_ptr<Gyro> hector_pose_estimation::GenericQuaternionSystemModel::gyro_

protected

Definition at line 85 of file generic_quaternion_system_model.h.

boost::shared_ptr<ImuInput> hector_pose_estimation::GenericQuaternionSystemModel::imu_

protected

Definition at line 84 of file generic_quaternion_system_model.h.

RateInput::Ptr hector_pose_estimation::GenericQuaternionSystemModel::rate_input_

protected

Definition at line 95 of file generic_quaternion_system_model.h.

ColumnVector3 hector_pose_estimation::GenericQuaternionSystemModel::rate_nav_

protected

Definition at line 88 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::rate_stddev_

protected

Definition at line 79 of file generic_quaternion_system_model.h.

TorqueInput::Ptr hector_pose_estimation::GenericQuaternionSystemModel::torque_input_

protected

Definition at line 93 of file generic_quaternion_system_model.h.

double hector_pose_estimation::GenericQuaternionSystemModel::velocity_stddev_

protected

Definition at line 82 of file generic_quaternion_system_model.h.

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

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation