35 template class Measurement_<GPSModel>;
86 , auto_reference_(true)
101 y_.setConstant(0.0/0.0);
119 ROS_ERROR(
"Cannot use GPS measurements if no reference latitude/longitude is set and %s/auto_reference parameter is false.",
name_.c_str());
virtual bool update(const MeasurementUpdate &update)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW GPS(const std::string &name="gps")
static const GlobalReferencePtr & Instance()
virtual void getExpectedValue(MeasurementVector &y_pred, const State &state)
virtual bool prepareUpdate(State &state, const GPSUpdate &update)
virtual ParameterList & parameters()
virtual ConstVelocityType getVelocity() const
virtual const boost::shared_ptr< PositionStateType > & position() const
virtual void getStateJacobian(MeasurementMatrix &C, const State &state, bool init)
ParameterList & add(const std::string &key, T &value, const T &default_value)
ParameterList & parameters()
virtual bool prepareUpdate(State &state, const MeasurementUpdate &update)
virtual const boost::shared_ptr< VelocityStateType > & velocity() const
void getRotationMatrix(RotationMatrix &R) const
GlobalReferencePtr reference_
virtual bool init(PoseEstimation &estimator, Measurement &measurement, State &state)
virtual void getMeasurementNoise(NoiseVariance &R, const State &, bool init)
GPSModel::MeasurementVector y_
virtual ConstPositionType getPosition() const
virtual GPSModel::MeasurementVector const & getVector(const GPSUpdate &update, const State &)