#include <imu_model.h>
Public Member Functions | |
ColumnVector3 | getError () const |
void | getPrior (State &state) |
ColumnVector3 | getRate (const ImuInput::RateType &imu_rate, const State &state) const |
void | getRateJacobian (SystemMatrixBlock &C, const State &state, bool init=true) |
void | getRateNoise (CovarianceBlock Q, const State &state, bool init=true) |
void | getSystemNoise (NoiseVariance &Q, const State &state, bool init=true) |
GyroModel () | |
bool | init (PoseEstimation &estimator, System &system, State &state) |
virtual | ~GyroModel () |
Public Member Functions inherited from hector_pose_estimation::TimeContinuousSystemModel_< GyroModel, 3 > | |
virtual void | getDerivative (StateVector &x_dot, const State &state) |
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) |
virtual void | getStateJacobian (SystemMatrix &A, const State &state, 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_< GyroModel, _VectorDimension, _VectorDimension > | |
GyroModel * | derived () |
const GyroModel * | 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 SystemStatus | getStatusFlags (const State &state) |
virtual bool | limitState (State &state) |
virtual bool | prepareUpdate (State &state, double dt) |
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 () |
Private Attributes | |
SubState::Ptr | bias_ |
double | rate_drift_ |
double | rate_stddev_ |
Additional Inherited Members | |
Public Types inherited from hector_pose_estimation::SystemModel | |
enum | SystemTypeEnum { UNKNOWN_SYSTEM_TYPE, TIME_DISCRETE, TIME_CONTINUOUS } |
Protected Attributes inherited from hector_pose_estimation::Model | |
ParameterList | parameters_ |
Definition at line 39 of file imu_model.h.
hector_pose_estimation::GyroModel::GyroModel | ( | ) |
Definition at line 40 of file imu_model.cpp.
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virtual |
Definition at line 48 of file imu_model.cpp.
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inline |
Definition at line 50 of file imu_model.h.
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virtual |
Reimplemented from hector_pose_estimation::SystemModel_< GyroModel, _VectorDimension, _VectorDimension >.
Definition at line 57 of file imu_model.cpp.
ColumnVector3 hector_pose_estimation::GyroModel::getRate | ( | const ImuInput::RateType & | imu_rate, |
const State & | state | ||
) | const |
Definition at line 69 of file imu_model.cpp.
void hector_pose_estimation::GyroModel::getRateJacobian | ( | SystemMatrixBlock & | C, |
const State & | state, | ||
bool | init = true |
||
) |
Definition at line 74 of file imu_model.cpp.
void hector_pose_estimation::GyroModel::getRateNoise | ( | CovarianceBlock | Q, |
const State & | state, | ||
bool | init = true |
||
) |
Definition at line 80 of file imu_model.cpp.
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virtual |
Reimplemented from hector_pose_estimation::TimeContinuousSystemModel_< GyroModel, 3 >.
Definition at line 62 of file imu_model.cpp.
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virtual |
Reimplemented from hector_pose_estimation::SystemModel.
Definition at line 51 of file imu_model.cpp.
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private |
Definition at line 60 of file imu_model.h.
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private |
Definition at line 62 of file imu_model.h.
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private |
Definition at line 61 of file imu_model.h.