32 #ifndef PRISMATICJOINTFILTER_H_ 33 #define PRISMATICJOINTFILTER_H_ 38 #include <pdf/linearanalyticconditionalgaussian.h> 39 #include <pdf/analyticconditionalgaussian.h> 40 #include <pdf/analyticconditionalgaussian_additivenoise.h> 41 #include <wrappers/matrix/matrix_wrapper.h> 42 #include <filter/extendedkalmanfilter.h> 43 #include <model/linearanalyticsystemmodel_gaussianuncertainty.h> 44 #include <model/analyticmeasurementmodel_gaussianuncertainty.h> 45 #include <model/measurementmodel.h> 58 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
76 PrismaticJointFilterPtr
clone()
const 164 BFL::LinearAnalyticSystemModelGaussianUncertainty*
_sys_MODEL;
169 BFL::ExtendedKalmanFilter*
_ekf;
void _initializeMeasurementModel()
virtual void correctState()
boost::shared_ptr< PrismaticJointFilter > PrismaticJointFilterPtr
virtual void estimateMeasurementHistoryLikelihood()
EIGEN_MAKE_ALIGNED_OPERATOR_NEW PrismaticJointFilter()
virtual void setCovarianceDeltaMeasurementLinear(double delta_meas)
virtual std::vector< visualization_msgs::Marker > getJointMarkersInRRBFrame() const
PrismaticJointFilterPtr clone() const
virtual geometry_msgs::TwistWithCovariance getPredictedSRBPoseWithCovInSensorFrame()
We use the kinematic structure to predict the next pose-twist of the second rigid body of the joint (...
virtual void estimateUnnormalizedModelProbability()
virtual geometry_msgs::TwistWithCovariance getPredictedSRBVelocityWithCovInSensorFrame()
Generate a prediction about the velocity of the second rigid body (SRB) and its covariance using the ...
virtual PrismaticJointFilter * doClone() const
virtual void initialize()
double _sigma_delta_meas_uncertainty_linear
BFL::NonLinearPrismaticMeasurementPdf * _meas_PDF
virtual ~PrismaticJointFilter()
virtual void predictState(double time_interval_ns)
First step when updating the filter. The next state is predicted from current state and system model...
BFL::LinearAnalyticConditionalGaussian * _sys_PDF
BFL::AnalyticMeasurementModelGaussianUncertainty * _meas_MODEL
BFL::ExtendedKalmanFilter * _ekf
virtual std::string getJointFilterTypeStr() const
virtual JointFilterType getJointFilterType() const
virtual void predictMeasurement()
BFL::LinearAnalyticSystemModelGaussianUncertainty * _sys_MODEL
void _initializeSystemModel()
virtual geometry_msgs::TwistWithCovariance getPredictedSRBDeltaPoseWithCovInSensorFrame()
Generate a prediction about the change in pose of the second rigid body (SRB) and its covariance usin...