#include <poseupdate.h>

Inheritance diagram for hector_pose_estimation::PoseUpdate:

Classes
class	Update

Public Member Functions
	PoseUpdate (const std::string &name="poseupdate")

virtual bool	updateImpl (const MeasurementUpdate &update)

virtual	~PoseUpdate ()

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

virtual void	add (const MeasurementUpdate &update)

virtual void	cleanup ()

void	disable ()

void	enable ()

bool	enabled () const

virtual Filter *	filter () const

virtual int	getDimension () const

double	getMinInterval () const

virtual MeasurementModel *	getModel () const

virtual const std::string &	getName () const

virtual SystemStatus	getStatusFlags () const

double	getTimeout () const

void	increase_timer (double dt)

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

	Measurement (const std::string &name)

virtual ParameterList &	parameters ()

virtual const ParameterList &	parameters () const

virtual bool	process ()

virtual void	reset (State &state)

virtual void	setFilter (Filter *filter)

void	setMinInterval (double min_interval)

void	setName (const std::string &name)

void	setTimeout (double timeout)

bool	timedout () const

virtual bool	update (const MeasurementUpdate &update)

virtual	~Measurement ()

Protected Member Functions
virtual Queue &	queue ()

Protected Member Functions inherited from hector_pose_estimation::Measurement
virtual void	onCleanup ()

virtual bool	onInit (PoseEstimation &estimator)

virtual void	onReset ()

Protected Attributes
Queue_< Update >	queue_

Protected Attributes inherited from hector_pose_estimation::Measurement
bool	enabled_

Filter *	filter_

double	min_interval_

std::string	name_

ParameterList	parameters_

SystemStatus	status_flags_

double	timeout_

double	timer_

Private Types
typedef boost::function< void(State &state, const ColumnVector &diff)>	JumpFunction

Private Member Functions
double	calculateOmega (const SymmetricMatrix &Ix, const SymmetricMatrix &Iy)

template<typename MeasurementVector , typename MeasurementMatrix , typename NoiseVariance >
double	updateInternal (State &state, const NoiseVariance &Iy, const MeasurementVector &error, const MeasurementMatrix &H, 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_

bool	predict_pose_

TwistModel	twist_model_

YawModel	yaw_model_

Additional Inherited Members
Static Public Member Functions inherited from hector_pose_estimation::Measurement
template<class ConcreteModel >
static boost::shared_ptr< Measurement_< ConcreteModel > >	create (ConcreteModel *model, const std::string &name)

Detailed Description

Definition at line 82 of file poseupdate.h.

Member Typedef Documentation

typedef boost::function<void(State &state, const ColumnVector &diff)> hector_pose_estimation::PoseUpdate::JumpFunction

private

Definition at line 133 of file poseupdate.h.

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 91 of file poseupdate.cpp.

Member Function Documentation

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

private

Definition at line 352 of file poseupdate.cpp.

virtual Queue& hector_pose_estimation::PoseUpdate::queue ( )

inlineprotectedvirtual

Implements hector_pose_estimation::Measurement.

Definition at line 141 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::updateImpl ( const MeasurementUpdate & update )

virtual

Reimplemented from hector_pose_estimation::Measurement.

Definition at line 95 of file poseupdate.cpp.

template<typename MeasurementVector , typename MeasurementMatrix , typename NoiseVariance >

double hector_pose_estimation::PoseUpdate::updateInternal	(	State &	state,
		const NoiseVariance &	Iy,
		const MeasurementVector &	error,
		const MeasurementMatrix &	H,
		const std::string &	text,
		const double	max_error = `0.0`,
		JumpFunction	jump_function = `JumpFunction()`
	)

private

Definition at line 359 of file poseupdate.cpp.

Member Data Documentation

double hector_pose_estimation::PoseUpdate::fixed_alpha_

private

Definition at line 109 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_angular_rate_xy_stddev_

private

Definition at line 121 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_angular_rate_z_stddev_

private

Definition at line 122 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_beta_

private

Definition at line 109 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_position_xy_stddev_

private

Definition at line 115 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_position_z_stddev_

private

Definition at line 116 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_velocity_xy_stddev_

private

Definition at line 119 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_velocity_z_stddev_

private

Definition at line 120 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::fixed_yaw_stddev_

private

Definition at line 117 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::interpret_covariance_as_information_matrix_

private

Definition at line 110 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::jump_on_max_error_

private

Definition at line 113 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_angular_rate_xy_error_

private

Definition at line 130 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_angular_rate_z_error_

private

Definition at line 131 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_position_xy_error_

private

Definition at line 124 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_position_z_error_

private

Definition at line 125 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_time_difference_

private

Definition at line 111 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_velocity_xy_error_

private

Definition at line 128 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_velocity_z_error_

private

Definition at line 129 of file poseupdate.h.

double hector_pose_estimation::PoseUpdate::max_yaw_error_

private

Definition at line 126 of file poseupdate.h.

PositionXYModel hector_pose_estimation::PoseUpdate::position_xy_model_

private

Definition at line 104 of file poseupdate.h.

PositionZModel hector_pose_estimation::PoseUpdate::position_z_model_

private

Definition at line 105 of file poseupdate.h.

bool hector_pose_estimation::PoseUpdate::predict_pose_

private

Definition at line 112 of file poseupdate.h.

Queue_<Update> hector_pose_estimation::PoseUpdate::queue_

protected

Definition at line 140 of file poseupdate.h.

TwistModel hector_pose_estimation::PoseUpdate::twist_model_

private

Definition at line 107 of file poseupdate.h.

YawModel hector_pose_estimation::PoseUpdate::yaw_model_

private

Definition at line 106 of file poseupdate.h.

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

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation