36 template class System_<GenericQuaternionSystemModel>;
110 state.
rate()->P()(
X,
X) = pow(0.0 * M_PI/180.0, 2);
111 state.
rate()->P()(
Y,
Y) = pow(0.0 * M_PI/180.0, 2);
112 state.
rate()->P()(
Z,
Z) = pow(0.0 * M_PI/180.0, 2);
200 state.
position()->segment(x_dot)(
X) = v.x();
201 state.
position()->segment(x_dot)(
Y) = v.y();
204 state.
position()->segment(x_dot)(
Z) = v.z();
272 GyroModel::SystemMatrixBlock A_orientation = state.
orientation()->rows(A);
273 gyro_->getModel()->getRateJacobian(A_orientation, state);
289 AccelerometerModel::SystemMatrixBlock A_velocity = state.
velocity()->rows(A);
290 accelerometer_->getModel()->getAccelerationJacobian(A_velocity, state);
291 state.
velocity()->rows(A) = R * A_velocity;
299 state.
velocity()->rows(A).topRows(2).setZero();
303 state.
velocity()->rows(A).row(2).setZero();
const SystemPtr & addSystem(const SystemPtr &system, const std::string &name="system")
void setIdentity(geometry_msgs::Transform &tx)
virtual void getDerivative(StateVector &x_dot, const State &state)
#define ROS_DEBUG_STREAM_NAMED(name, args)
boost::shared_ptr< SystemType > getSystem_(const std::string &name) const
virtual void getSystemNoise(NoiseVariance &Q, const State &state, bool init=true)
ParameterPtr const & get(const std::string &key) const
virtual const boost::shared_ptr< OrientationStateType > & orientation() const
virtual ParameterList & parameters()
Matrix_< 3, 3 >::type RotationMatrix
System_< GyroModel > Gyro
virtual void getPrior(State &state)
virtual ConstRateType getRate() const
const State::RotationMatrix & R() const
RateInput::Ptr rate_input_
virtual ConstVelocityType getVelocity() const
virtual const boost::shared_ptr< PositionStateType > & position() const
EIGEN_MAKE_ALIGNED_OPERATOR_NEW GenericQuaternionSystemModel()
AliasT< double > gravity_
virtual SystemStatus getStatusFlags(const State &state)
ParameterList & add(const std::string &key, T &value, const T &default_value)
ParameterList & parameters()
virtual bool init(PoseEstimation &estimator, System &system, State &state)
bool prepareUpdate(State &state, double dt)
double acceleration_stddev_
boost::shared_ptr< Accelerometer > accelerometer_
double angular_acceleration_stddev_
unsigned int SystemStatus
boost::shared_ptr< InputType > getInputType(const std::string &name) const
virtual ~GenericQuaternionSystemModel()
virtual const boost::shared_ptr< VelocityStateType > & velocity() const
virtual SystemStatus getSystemStatus() const
virtual ConstAccelerationType getAcceleration() const
System_< AccelerometerModel > Accelerometer
TorqueInput::Ptr torque_input_
ColumnVector3 acceleration_nav_
virtual const boost::shared_ptr< RateStateType > & rate() const
virtual void getStateJacobian(SystemMatrix &A, const State &state, bool init=true)
ForceInput::Ptr force_input_
virtual SystemStatus getMeasurementStatus() const
boost::shared_ptr< ImuInput > imu_
VectorBlock< const Vector, 3 > ConstVelocityType
virtual const boost::shared_ptr< AccelerationStateType > & acceleration() const
static Matrix3 SkewSymmetricMatrix(const Eigen::MatrixBase< OtherDerived > &other)
boost::shared_ptr< Gyro > gyro_