#include <MotionModel.h>
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| void | applyOdomTransform (Particles &particles, const tf::Transform &odomTransform) |
| | apply odomTransform to all particles (with random noise and calibration) More...
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| bool | applyOdomTransformTemporal (Particles &particles, const ros::Time &t, double dt) |
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| tf::Transform | computeOdomTransform (const tf::Transform currentPose) const |
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| bool | getLastOdomPose (tf::Stamped< tf::Pose > &lastOdomPose) const |
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| bool | lookupLocalTransform (const std::string &targetFrame, const ros::Time &t, tf::StampedTransform &localTransform) const |
| | lookup the local target frame in the base frame (local transform) More...
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| bool | lookupOdomPose (const ros::Time &t, tf::Stamped< tf::Pose > &odomPose) const |
| | look up the odom pose at a certain time through tf More...
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| bool | lookupOdomTransform (const ros::Time &t, tf::Transform &odomTransform) const |
| | looks up the odometry pose at time t and then calls computeOdomTransform() More...
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| bool | lookupPoseHeight (const ros::Time &t, double &poseHeight) const |
| | lookup the height of the torso, based on tf between the base and footprint frames More...
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| | MotionModel (ros::NodeHandle *nh, EngineT *rngEngine, tf::TransformListener *tf, const std::string &odomFrameId, const std::string &baseFrameId) |
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| void | reset () |
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| void | storeOdomPose (const tf::Stamped< tf::Pose > &odomPose) |
| | store odomPose as m_lastOdomPose to compute future odom transforms More...
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| virtual | ~MotionModel () |
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Definition at line 34 of file MotionModel.h.
| humanoid_localization::MotionModel::~MotionModel |
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virtual |
| void humanoid_localization::MotionModel::applyOdomTransform |
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Particles & |
particles, |
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const tf::Transform & |
odomTransform |
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apply odomTransform to all particles (with random noise and calibration)
Definition at line 128 of file MotionModel.cpp.
| void humanoid_localization::MotionModel::applyOdomTransform |
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tf::Pose & |
particlePose, |
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const tf::Transform & |
odomTransform |
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) |
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apply odomTransform to one particle pose (with random noise and calibration)
Definition at line 124 of file MotionModel.cpp.
| bool humanoid_localization::MotionModel::applyOdomTransformTemporal |
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Particles & |
particles, |
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const ros::Time & |
t, |
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double |
dt |
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) |
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apply odomTransform to all particles (noisy), with temporal sampling over the range of dt. Times are sampled in an interval +-dt/2 around t, iff dt > 0.0.
Definition at line 136 of file MotionModel.cpp.
- Returns
- calibrated odometry transform w.r.t. 2D drift (pos. + orientation)
Definition at line 178 of file MotionModel.cpp.
computes the odometry transform from m_lastOdomPose to currentPose as relative 6D rigid body transform (=identity if m_lastOdomPose not available)
Definition at line 209 of file MotionModel.cpp.
| bool humanoid_localization::MotionModel::getLastOdomPose |
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tf::Stamped< tf::Pose > & |
lastOdomPose | ) |
const |
get the last stored odomPose returns false when there is no valid previous pose stored
Definition at line 264 of file MotionModel.cpp.
| bool humanoid_localization::MotionModel::lookupLocalTransform |
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const std::string & |
targetFrame, |
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const ros::Time & |
t, |
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tf::StampedTransform & |
localTransform |
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lookup the local target frame in the base frame (local transform)
Definition at line 248 of file MotionModel.cpp.
look up the odom pose at a certain time through tf
Definition at line 229 of file MotionModel.cpp.
| bool humanoid_localization::MotionModel::lookupOdomTransform |
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const ros::Time & |
t, |
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tf::Transform & |
odomTransform |
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| bool humanoid_localization::MotionModel::lookupPoseHeight |
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const ros::Time & |
t, |
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double & |
poseHeight |
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lookup the height of the torso, based on tf between the base and footprint frames
Generates motion noise corresponding to odomTransform May not be called in parallel, accesses the random generator m_rngNormal
Definition at line 93 of file MotionModel.cpp.
| void humanoid_localization::MotionModel::reset |
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| void humanoid_localization::MotionModel::storeOdomPose |
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const tf::Stamped< tf::Pose > & |
odomPose | ) |
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store odomPose as m_lastOdomPose to compute future odom transforms
Definition at line 218 of file MotionModel.cpp.
| void humanoid_localization::MotionModel::transformPose |
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tf::Pose & |
particlePose, |
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const tf::Transform & |
odomTransform |
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) |
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Transform a particle's pose with the relative odomTransform with added random noise.
| std::string humanoid_localization::MotionModel::m_baseFrameId |
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| bool humanoid_localization::MotionModel::m_firstOdometryReceived |
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| std::string humanoid_localization::MotionModel::m_footprintFrameId |
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| Eigen::Matrix3d humanoid_localization::MotionModel::m_odomCalibration2D |
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systematic calibration parameters for odometry drift
Definition at line 95 of file MotionModel.h.
| std::string humanoid_localization::MotionModel::m_odomFrameId |
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| Eigen::Matrix3d humanoid_localization::MotionModel::m_odomNoise2D |
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variance parameters for calibrated odometry noise
Definition at line 93 of file MotionModel.h.
| double humanoid_localization::MotionModel::m_odomNoisePitch |
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std.dev param of noise in pitch (depending on distance traveled)
Definition at line 101 of file MotionModel.h.
| double humanoid_localization::MotionModel::m_odomNoiseRoll |
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std.dev param of noise in roll (depending on distance traveled)
Definition at line 99 of file MotionModel.h.
| double humanoid_localization::MotionModel::m_odomNoiseZ |
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std.dev param of noise in Z (depending on distance traveled)
Definition at line 97 of file MotionModel.h.
The documentation for this class was generated from the following files: