#include <magnetic.h>

Inheritance diagram for hector_pose_estimation::MagneticModel:

Public Member Functions
virtual void	getExpectedValue (MeasurementVector &y_pred, const State &state)

double	getMagneticHeading (const State &state, const MeasurementVector &y) const

virtual void	getMeasurementNoise (NoiseVariance &R, const State &, bool init)

virtual void	getStateJacobian (MeasurementMatrix &C, const State &state, bool init)

virtual SystemStatus	getStatusFlags ()

double	getTrueHeading (const State &state, const MeasurementVector &y) const

bool	hasMagnitude () const

virtual bool	init (PoseEstimation &estimator, Measurement &measurement, State &state)

EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MagneticModel ()

void	setReference (const GlobalReference::Heading &reference_heading)

virtual	~MagneticModel ()

Public Member Functions inherited from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >
MagneticModel *	derived ()

const MagneticModel *	derived () const

virtual int	getDimension () const

virtual const MeasurementVector *	getFixedMeasurementVector () const

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

virtual void	limitError (MeasurementVector &error)

virtual	~MeasurementModel_ ()

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

virtual void	afterUpdate (State &state)

virtual bool	prepareUpdate (State &state, const MeasurementUpdate &update)

virtual	~MeasurementModel ()

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 Member Functions
void	updateMagneticField ()

Protected Attributes
double	declination_

double	inclination_

MeasurementVector	magnetic_field_north_

MeasurementVector	magnetic_field_reference_

double	magnitude_

double	stddev_

Protected Attributes inherited from hector_pose_estimation::Model
ParameterList	parameters_

Detailed Description

Definition at line 37 of file magnetic.h.

Constructor & Destructor Documentation

hector_pose_estimation::MagneticModel::MagneticModel ( )

Definition at line 38 of file magnetic.cpp.

hector_pose_estimation::MagneticModel::~MagneticModel ( )

virtual

Definition at line 47 of file magnetic.cpp.

Member Function Documentation

void hector_pose_estimation::MagneticModel::getExpectedValue	(	MeasurementVector &	y_pred,
		const State &	state
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >.

Definition at line 68 of file magnetic.cpp.

double hector_pose_estimation::MagneticModel::getMagneticHeading	(	const State &	state,
		const MeasurementVector &	y
	)		const

Definition at line 84 of file magnetic.cpp.

void hector_pose_estimation::MagneticModel::getMeasurementNoise	(	NoiseVariance &	R,
		const State &	,
		bool	init
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >.

Definition at line 61 of file magnetic.cpp.

void hector_pose_estimation::MagneticModel::getStateJacobian	(	MeasurementMatrix &	C,
		const State &	state,
		bool	init
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >.

Definition at line 74 of file magnetic.cpp.

virtual SystemStatus hector_pose_estimation::MagneticModel::getStatusFlags ( )

inlinevirtual

Reimplemented from hector_pose_estimation::MeasurementModel.

Definition at line 46 of file magnetic.h.

double hector_pose_estimation::MagneticModel::getTrueHeading	(	const State &	state,
		const MeasurementVector &	y
	)		const

Definition at line 90 of file magnetic.cpp.

bool hector_pose_estimation::MagneticModel::hasMagnitude ( ) const

inline

Definition at line 56 of file magnetic.h.

bool hector_pose_estimation::MagneticModel::init	(	PoseEstimation &	estimator,
		Measurement &	measurement,
		State &	state
	)

virtual

Reimplemented from hector_pose_estimation::MeasurementModel.

Definition at line 49 of file magnetic.cpp.

void hector_pose_estimation::MagneticModel::setReference ( const GlobalReference::Heading & reference_heading )

Definition at line 55 of file magnetic.cpp.

void hector_pose_estimation::MagneticModel::updateMagneticField ( )

protected

Definition at line 94 of file magnetic.cpp.

Member Data Documentation

double hector_pose_estimation::MagneticModel::declination_

protected

Definition at line 60 of file magnetic.h.

double hector_pose_estimation::MagneticModel::inclination_

protected

Definition at line 60 of file magnetic.h.

MeasurementVector hector_pose_estimation::MagneticModel::magnetic_field_north_

protected

Definition at line 63 of file magnetic.h.

MeasurementVector hector_pose_estimation::MagneticModel::magnetic_field_reference_

protected

Definition at line 64 of file magnetic.h.

double hector_pose_estimation::MagneticModel::magnitude_

protected

Definition at line 60 of file magnetic.h.

double hector_pose_estimation::MagneticModel::stddev_

protected

Definition at line 59 of file magnetic.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation