#include <JointFilter.h>

Inheritance diagram for omip::JointFilter:

[legend]

Public Member Functions
JointFilterPtr	clone () const
	Creates a new Joint object with the same values as this one and passes its reference. More...

virtual void	correctState ()
	Correct the state of the filter (the joint parameters) based on the difference between the predicted and the last acquired measurement It is only implemented for revolute and prismatic because rigid and disconnected have no parameters to correct. More...

virtual void	estimateMeasurementHistoryLikelihood ()
	Estimate the error of the last joint parameters by testing them against the full observed trajectory of the second RB relative to the reference RB -> Obtain the likelihood of the measurements given the model and the model parameters Implemented for prismatic, revolute and rigid joints, but not for disconnected (there is no way to estimate its likelihood, we use a value that is a threshold) More...

virtual void	estimateUnnormalizedModelProbability ()

virtual double	getCovarianceOrientationPhiPhiInRRBFrame () const

virtual double	getCovarianceOrientationPhiThetaInRRBFrame () const

virtual double	getCovarianceOrientationThetaThetaInRRBFrame () const

virtual JointFilterType	getJointFilterType () const =0
	Get the joint type as one of the possible JointFilterTypes. More...

virtual std::string	getJointFilterTypeStr () const =0
	Get the joint type as a string (printing purposes) More...

virtual JointCombinedFilterId	getJointId () const
	Get the unique Id that identifies this joint. More...

virtual std::vector< visualization_msgs::Marker >	getJointMarkersInRRBFrame () const =0

virtual Eigen::Vector3d	getJointOrientationRPYInRRBFrame () const

virtual Eigen::Vector3d	getJointOrientationUnitaryVector () const

virtual Eigen::Vector3d	getJointPositionInRRBFrame () const

virtual double	getJointState () const
	Return the joint state. Useful for plotting and testing purposes (monitoring action) More...

virtual double	getJointVelocity () const
	Return the joint velocity. Useful for plotting and testing purposes (monitoring action) More...

virtual double	getLikelihoodOfLastMeasurements () const
	Return the estimated error of the last joint parameters by testing them against the full observed trajectory. More...

virtual double	getLoopPeriodNS () const

virtual double	getModelPriorProbability () const
	Get the prior probability of this type of model/joint. We could use this in the feature if the robot is in environments where is more probable to encounter joints of certain type. More...

virtual double	getNormalizingTerm ()

virtual int	getNumSamplesForLikelihoodEstimation () const

virtual double	getOrientationPhiInRRBFrame () const

virtual double	getOrientationThetaInRRBFrame () const

virtual Eigen::Twistd	getPredictedMeasurement () const
	Get the predicted pose-twist of the second rigid body (SRB) using the frame of the reference rigid body (RRBF) as observation and ref frame. More...

virtual geometry_msgs::TwistWithCovariance	getPredictedSRBDeltaPoseWithCovInSensorFrame ()=0
	Generate a prediction about the change in pose of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF) More...

virtual geometry_msgs::TwistWithCovariance	getPredictedSRBPoseWithCovInSensorFrame ()=0
	Generate a prediction about the pose-twist of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF) More...

virtual geometry_msgs::TwistWithCovariance	getPredictedSRBVelocityWithCovInSensorFrame ()=0
	Generate a prediction about the velocity of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF) More...

virtual double	getProbabilityOfJointFilter () const
	Return the normalized joint filter probability as p(Model\|Data) = p(Data\|Model) x p(Model) / p(Data) where SUM_all_models( p(Model\|Data) ) = 1. More...

virtual double	getUnnormalizedProbabilityOfJointFilter () const
	Return the unnormalized joint filter probability as p(Data\|Model) x p(Model) More...

virtual void	initialize ()

	JointFilter ()
	Constructor. More...

	JointFilter (const JointFilter &joint)
	Copy constructor. More...

virtual void	predictMeasurement ()
	Generate a prediction about the pose-twist of the second rigid body (SRB) using the frame of the reference rigid body (RRBF) as observation and ref frame based on the belief state (joint parameters and latent variable) and the initial pose of the SRB in the RRBF Implemented for prismatic, revolute and rigid joints, but not for disconnected (there is no way to predict the next measurement because there is no constraint in the motion if the joint is disconnected) More...

virtual void	predictState (double time_interval_ns)
	Predict the next state. More...

virtual void	setCovarianceAdditiveSystemNoiseJointState (double sigma_sys_noise_pv)

virtual void	setCovarianceAdditiveSystemNoiseJointVelocity (double sigma_sys_noise_pvd)

virtual void	setCovarianceAdditiveSystemNoisePhi (double sigma_sys_noise_phi)

virtual void	setCovarianceAdditiveSystemNoisePx (double sigma_sys_noise_px)

virtual void	setCovarianceAdditiveSystemNoisePy (double sigma_sys_noise_py)

virtual void	setCovarianceAdditiveSystemNoisePz (double sigma_sys_noise_pz)

virtual void	setCovarianceAdditiveSystemNoiseTheta (double sigma_sys_noise_theta)

virtual void	setCovarianceMeasurementNoise (double sigma_meas_noise)

virtual void	setCovariancePrior (double prior_cov_vel)

virtual void	setInitialMeasurement (const joint_measurement_t &initial_measurement, const Eigen::Twistd &rrb_pose_at_srb_birth_in_sf, const Eigen::Twistd &srb_pose_at_srb_birth_in_sf)

virtual void	setJointId (JointCombinedFilterId joint_id)

virtual void	setLikelihoodOfLastMeasurements (double likelihood)
	Set the estimated error of the last joint parameters (only useful for the disconnected joint because we do not estimate the likelihood internally) More...

virtual void	setLoopPeriodNS (double loop_period_ns)

virtual void	setMeasurement (joint_measurement_t acquired_measurement, const double &measurement_timestamp_ns)
	Set the latest acquired measurement. More...

virtual void	setModelPriorProbability (double model_prior_probability)
	Set the prior probability of this type of model/joint. We could use this in the feature if the robot is in environments where is more probable to encounter joints of certain type. More...

virtual void	setNormalizingTerm (double normalizing_term)
	Set the normalizing term from the combined filter as the sum of all unnormalized probabilities. More...

virtual void	setNumSamplesForLikelihoodEstimation (int likelihood_sample_num)

virtual	~JointFilter ()
	Destructor. More...

Protected Member Functions
void	_initVariables (JointCombinedFilterId joint_id)
	Initialize all variables of the filter. More...

virtual JointFilter *	doClone () const =0

Protected Attributes
Eigen::Matrix< double, 6, 6 >	_current_delta_pose_cov_in_rrbf

Eigen::Twistd	_current_delta_pose_in_rrbf

std::vector< Eigen::Twistd >	_delta_poses_in_rrbf

bool	_externally_set_likelihood

bool	_from_inverted_to_non_inverted

bool	_from_non_inverted_to_inverted

bool	_inverted_delta_srb_pose_in_rrbf

double	_joint_acceleration

JointCombinedFilterId	_joint_id

Eigen::Vector3d	_joint_orientation

double	_joint_orientation_phi

double	_joint_orientation_theta

Eigen::Vector3d	_joint_position

double	_joint_state

std::vector< double >	_joint_states_all

double	_joint_velocity

int	_likelihood_sample_num

double	_loop_period_ns

double	_measurement_timestamp_ns

double	_measurements_likelihood

double	_model_prior_probability

double	_normalizing_term

Eigen::Twistd	_predicted_delta_pose_in_rrbf

Eigen::Twistd	_previous_delta_pose_in_rrbf

double	_prior_cov_vel

Eigen::Vector3d	_rrb_centroid_in_sf

Eigen::Twistd	_rrb_current_pose_in_sf

Eigen::Twistd	_rrb_current_vel_in_sf

int	_rrb_id

Eigen::Matrix< double, 6, 6 >	_rrb_pose_cov_in_sf

Eigen::Twistd	_rrb_previous_pose_in_sf

Eigen::Matrix< double, 6, 6 >	_rrb_vel_cov_in_sf

double	_sigma_meas_noise

double	_sigma_sys_noise_jv

double	_sigma_sys_noise_jvd

double	_sigma_sys_noise_phi

double	_sigma_sys_noise_px

double	_sigma_sys_noise_py

double	_sigma_sys_noise_pz

double	_sigma_sys_noise_theta

Eigen::Vector3d	_srb_centroid_in_sf

Eigen::Matrix< double, 6, 6 >	_srb_current_pose_cov_in_rrbf

Eigen::Twistd	_srb_current_pose_in_rrbf

Eigen::Twistd	_srb_current_pose_in_sf

Eigen::Twistd	_srb_current_vel_in_sf

Eigen::Matrix< double, 6, 6 >	_srb_initial_pose_cov_in_rrbf

Eigen::Twistd	_srb_initial_pose_in_rrbf

Eigen::Matrix< double, 6, 6 >	_srb_pose_cov_in_sf

Eigen::Twistd	_srb_predicted_pose_in_rrbf

Eigen::Twistd	_srb_previous_pose_in_rrbf

Eigen::Twistd	_srb_previous_predicted_pose_in_rrbf

tf::TransformBroadcaster	_tf_pub

double	_uncertainty_joint_acceleration

Eigen::Matrix2d	_uncertainty_joint_orientation_phitheta

Eigen::Matrix3d	_uncertainty_joint_position

double	_uncertainty_joint_state

double	_uncertainty_joint_velocity

double	_unnormalized_model_probability

Detailed Description

Definition at line 82 of file JointFilter.h.

Constructor & Destructor Documentation

JointFilter::JointFilter ( )

Constructor.

Definition at line 9 of file JointFilter.cpp.

JointFilter::~JointFilter ( )

virtual

Destructor.

Definition at line 143 of file JointFilter.cpp.

JointFilter::JointFilter ( const JointFilter & joint )

Copy constructor.

Definition at line 148 of file JointFilter.cpp.

Member Function Documentation

void JointFilter::_initVariables ( JointCombinedFilterId joint_id )

protected

Initialize all variables of the filter.

Parameters

joint_id Id of the joint

Definition at line 104 of file JointFilter.cpp.

JointFilterPtr omip::JointFilter::clone ( ) const

inline

Creates a new Joint object with the same values as this one and passes its reference.

Returns: - A reference to the clone of this Feature object

Definition at line 102 of file JointFilter.h.

virtual void omip::JointFilter::correctState ( )

inlinevirtual

Correct the state of the filter (the joint parameters) based on the difference between the predicted and the last acquired measurement It is only implemented for revolute and prismatic because rigid and disconnected have no parameters to correct.

Reimplemented in omip::PrismaticJointFilter, and omip::RevoluteJointFilter.

Definition at line 134 of file JointFilter.h.

virtual JointFilter* omip::JointFilter::doClone ( ) const

protectedpure virtual

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

virtual void omip::JointFilter::estimateMeasurementHistoryLikelihood ( )

inlinevirtual

Estimate the error of the last joint parameters by testing them against the full observed trajectory of the second RB relative to the reference RB -> Obtain the likelihood of the measurements given the model and the model parameters Implemented for prismatic, revolute and rigid joints, but not for disconnected (there is no way to estimate its likelihood, we use a value that is a threshold)

Reimplemented in omip::PrismaticJointFilter, omip::RevoluteJointFilter, and omip::RigidJointFilter.

Definition at line 159 of file JointFilter.h.

virtual void omip::JointFilter::estimateUnnormalizedModelProbability ( )

inlinevirtual

Reimplemented in omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::RevoluteJointFilter.

Definition at line 161 of file JointFilter.h.

double JointFilter::getCovarianceOrientationPhiPhiInRRBFrame ( ) const

virtual

Definition at line 381 of file JointFilter.cpp.

double JointFilter::getCovarianceOrientationPhiThetaInRRBFrame ( ) const

virtual

Definition at line 391 of file JointFilter.cpp.

double JointFilter::getCovarianceOrientationThetaThetaInRRBFrame ( ) const

virtual

Definition at line 386 of file JointFilter.cpp.

virtual JointFilterType omip::JointFilter::getJointFilterType ( ) const

pure virtual

Get the joint type as one of the possible JointFilterTypes.

Returns: JointFilterType The type of this joint filter

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

virtual std::string omip::JointFilter::getJointFilterTypeStr ( ) const

pure virtual

Get the joint type as a string (printing purposes)

Returns: std::string The type of this joint filter as a string

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

JointCombinedFilterId JointFilter::getJointId ( ) const

virtual

Get the unique Id that identifies this joint.

Returns: longint Joint id of this joint

Definition at line 356 of file JointFilter.cpp.

virtual std::vector<visualization_msgs::Marker> omip::JointFilter::getJointMarkersInRRBFrame ( ) const

pure virtual

Return rviz markers that show the type and parameters of the estimated joint

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

Eigen::Vector3d JointFilter::getJointOrientationRPYInRRBFrame ( ) const

virtual

Definition at line 401 of file JointFilter.cpp.

Eigen::Vector3d JointFilter::getJointOrientationUnitaryVector ( ) const

virtual

Definition at line 410 of file JointFilter.cpp.

Eigen::Vector3d JointFilter::getJointPositionInRRBFrame ( ) const

virtual

Definition at line 396 of file JointFilter.cpp.

double JointFilter::getJointState ( ) const

virtual

Return the joint state. Useful for plotting and testing purposes (monitoring action)

Returns: double Currently estimated joint state

Definition at line 361 of file JointFilter.cpp.

double JointFilter::getJointVelocity ( ) const

virtual

Return the joint velocity. Useful for plotting and testing purposes (monitoring action)

Returns: double Currently estimated joint velocity

Definition at line 366 of file JointFilter.cpp.

double JointFilter::getLikelihoodOfLastMeasurements ( ) const

virtual

Return the estimated error of the last joint parameters by testing them against the full observed trajectory.

Returns: double Likelihood of the last relative trajectory of the SRB wrt the RRB given the model and the model parameters

Definition at line 330 of file JointFilter.cpp.

double JointFilter::getLoopPeriodNS ( ) const

virtual

Definition at line 295 of file JointFilter.cpp.

double JointFilter::getModelPriorProbability ( ) const

virtual

Get the prior probability of this type of model/joint. We could use this in the feature if the robot is in environments where is more probable to encounter joints of certain type.

Returns: double The prior probability of this type of model/joint

Definition at line 325 of file JointFilter.cpp.

double JointFilter::getNormalizingTerm ( )

virtual

Definition at line 315 of file JointFilter.cpp.

int JointFilter::getNumSamplesForLikelihoodEstimation ( ) const

virtual

Definition at line 305 of file JointFilter.cpp.

double JointFilter::getOrientationPhiInRRBFrame ( ) const

virtual

Definition at line 371 of file JointFilter.cpp.

double JointFilter::getOrientationThetaInRRBFrame ( ) const

virtual

Definition at line 376 of file JointFilter.cpp.

Eigen::Twistd JointFilter::getPredictedMeasurement ( ) const

virtual

Get the predicted pose-twist of the second rigid body (SRB) using the frame of the reference rigid body (RRBF) as observation and ref frame.

Returns: Eigen::Twistd Predicted pose-twist of the second rigid body (SRB) using the frame of the reference rigid body (RRBF) as observation and ref frame

Definition at line 285 of file JointFilter.cpp.

virtual geometry_msgs::TwistWithCovariance omip::JointFilter::getPredictedSRBDeltaPoseWithCovInSensorFrame ( )

pure virtual

Generate a prediction about the change in pose of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF)

Returns: geometry_msgs::TwistWithCovariance Change in pose of the second rigid body in form of a twist with covariance based on the model uncertainty

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

virtual geometry_msgs::TwistWithCovariance omip::JointFilter::getPredictedSRBPoseWithCovInSensorFrame ( )

pure virtual

Generate a prediction about the pose-twist of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF)

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

virtual geometry_msgs::TwistWithCovariance omip::JointFilter::getPredictedSRBVelocityWithCovInSensorFrame ( )

pure virtual

Generate a prediction about the velocity of the second rigid body (SRB) and its covariance using the frame of sensor (SF) as observation and ref frame based on the predicted measurement and the predicted next pose of the reference rigid body (RRB) in the sensor frame (SF)

Returns: geometry_msgs::TwistWithCovariance Velocity of the second rigid body in form of a twist with covariance based on the model uncertainty

Implemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

double JointFilter::getProbabilityOfJointFilter ( ) const

virtual

Return the normalized joint filter probability as p(Model|Data) = p(Data|Model) x p(Model) / p(Data) where SUM_all_models( p(Model|Data) ) = 1.

Returns: double Normalized probability of this joint filter

Reimplemented in omip::DisconnectedJointFilter.

Definition at line 346 of file JointFilter.cpp.

double JointFilter::getUnnormalizedProbabilityOfJointFilter ( ) const

virtual

Return the unnormalized joint filter probability as p(Data|Model) x p(Model)

Returns: double Unnormalized probability of this joint filter

Definition at line 341 of file JointFilter.cpp.

void JointFilter::initialize ( )

virtual

Reimplemented in omip::RevoluteJointFilter, omip::PrismaticJointFilter, omip::RigidJointFilter, and omip::DisconnectedJointFilter.

Definition at line 460 of file JointFilter.cpp.

virtual void omip::JointFilter::predictMeasurement ( )

inlinevirtual

Generate a prediction about the pose-twist of the second rigid body (SRB) using the frame of the reference rigid body (RRBF) as observation and ref frame based on the belief state (joint parameters and latent variable) and the initial pose of the SRB in the RRBF Implemented for prismatic, revolute and rigid joints, but not for disconnected (there is no way to predict the next measurement because there is no constraint in the motion if the joint is disconnected)

Reimplemented in omip::PrismaticJointFilter, omip::RevoluteJointFilter, and omip::RigidJointFilter.

Definition at line 127 of file JointFilter.h.

virtual void omip::JointFilter::predictState ( double time_interval_ns )

inlinevirtual

Predict the next state.

Reimplemented in omip::PrismaticJointFilter, and omip::RevoluteJointFilter.

Definition at line 118 of file JointFilter.h.

void JointFilter::setCovarianceAdditiveSystemNoiseJointState ( double sigma_sys_noise_pv )

virtual

Definition at line 445 of file JointFilter.cpp.

void JointFilter::setCovarianceAdditiveSystemNoiseJointVelocity ( double sigma_sys_noise_pvd )

virtual

Definition at line 450 of file JointFilter.cpp.

void JointFilter::setCovarianceAdditiveSystemNoisePhi ( double sigma_sys_noise_phi )

virtual

Definition at line 420 of file JointFilter.cpp.

void JointFilter::setCovarianceAdditiveSystemNoisePx ( double sigma_sys_noise_px )

virtual

Definition at line 430 of file JointFilter.cpp.

void JointFilter::setCovarianceAdditiveSystemNoisePy ( double sigma_sys_noise_py )

virtual

Definition at line 435 of file JointFilter.cpp.

void JointFilter::setCovarianceAdditiveSystemNoisePz ( double sigma_sys_noise_pz )

virtual

Definition at line 440 of file JointFilter.cpp.

void JointFilter::setCovarianceAdditiveSystemNoiseTheta ( double sigma_sys_noise_theta )

virtual

Definition at line 425 of file JointFilter.cpp.

void JointFilter::setCovarianceMeasurementNoise ( double sigma_meas_noise )

virtual

Definition at line 455 of file JointFilter.cpp.

void JointFilter::setCovariancePrior ( double prior_cov_vel )

virtual

Definition at line 415 of file JointFilter.cpp.

void JointFilter::setInitialMeasurement	(	const joint_measurement_t &	initial_measurement,
		const Eigen::Twistd &	rrb_pose_at_srb_birth_in_sf,
		const Eigen::Twistd &	srb_pose_at_srb_birth_in_sf
	)

virtual

Definition at line 24 of file JointFilter.cpp.

void JointFilter::setJointId ( JointCombinedFilterId joint_id )

virtual

Definition at line 351 of file JointFilter.cpp.

void JointFilter::setLikelihoodOfLastMeasurements ( double likelihood )

virtual

Set the estimated error of the last joint parameters (only useful for the disconnected joint because we do not estimate the likelihood internally)

Parameters

likelihood Likelihood of the last relative trajectory of the SRB wrt the RRB given the model and the model parameters

Definition at line 335 of file JointFilter.cpp.

void JointFilter::setLoopPeriodNS ( double loop_period_ns )

virtual

Definition at line 290 of file JointFilter.cpp.

void JointFilter::setMeasurement	(	joint_measurement_t	acquired_measurement,
		const double &	measurement_timestamp_ns
	)

virtual

Set the latest acquired measurement.

Parameters

acquired_measurement Latest acquired measurement

Definition at line 187 of file JointFilter.cpp.

void JointFilter::setModelPriorProbability ( double model_prior_probability )

virtual

Set the prior probability of this type of model/joint. We could use this in the feature if the robot is in environments where is more probable to encounter joints of certain type.

Parameters

model_prior_probability Prior probability of this type of model/joint

Definition at line 320 of file JointFilter.cpp.

void JointFilter::setNormalizingTerm ( double normalizing_term )

virtual

Set the normalizing term from the combined filter as the sum of all unnormalized probabilities.

Parameters

normalizing_term Sum of all unnormalized probabilities

Definition at line 310 of file JointFilter.cpp.

void JointFilter::setNumSamplesForLikelihoodEstimation ( int likelihood_sample_num )

virtual

Definition at line 300 of file JointFilter.cpp.

Member Data Documentation

Eigen::Matrix<double, 6, 6> omip::JointFilter::_current_delta_pose_cov_in_rrbf

protected

Definition at line 437 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_current_delta_pose_in_rrbf

protected

Definition at line 436 of file JointFilter.h.

std::vector<Eigen::Twistd> omip::JointFilter::_delta_poses_in_rrbf

protected

Definition at line 440 of file JointFilter.h.

bool omip::JointFilter::_externally_set_likelihood

protected

Definition at line 347 of file JointFilter.h.

bool omip::JointFilter::_from_inverted_to_non_inverted

protected

Definition at line 460 of file JointFilter.h.

bool omip::JointFilter::_from_non_inverted_to_inverted

protected

Definition at line 461 of file JointFilter.h.

bool omip::JointFilter::_inverted_delta_srb_pose_in_rrbf

protected

Definition at line 459 of file JointFilter.h.

double omip::JointFilter::_joint_acceleration

protected

Definition at line 381 of file JointFilter.h.

JointCombinedFilterId omip::JointFilter::_joint_id

protected

Definition at line 332 of file JointFilter.h.

Eigen::Vector3d omip::JointFilter::_joint_orientation

protected

Definition at line 362 of file JointFilter.h.

double omip::JointFilter::_joint_orientation_phi

protected

Definition at line 359 of file JointFilter.h.

double omip::JointFilter::_joint_orientation_theta

protected

Definition at line 360 of file JointFilter.h.

Eigen::Vector3d omip::JointFilter::_joint_position

protected

Definition at line 354 of file JointFilter.h.

double omip::JointFilter::_joint_state

protected

Definition at line 367 of file JointFilter.h.

std::vector<double> omip::JointFilter::_joint_states_all

protected

Definition at line 372 of file JointFilter.h.

double omip::JointFilter::_joint_velocity

protected

Definition at line 375 of file JointFilter.h.

int omip::JointFilter::_likelihood_sample_num

protected

Definition at line 335 of file JointFilter.h.

double omip::JointFilter::_loop_period_ns

protected

Definition at line 444 of file JointFilter.h.

double omip::JointFilter::_measurement_timestamp_ns

protected

Definition at line 454 of file JointFilter.h.

double omip::JointFilter::_measurements_likelihood

protected

Definition at line 346 of file JointFilter.h.

double omip::JointFilter::_model_prior_probability

protected

Definition at line 348 of file JointFilter.h.

double omip::JointFilter::_normalizing_term

protected

Definition at line 349 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_predicted_delta_pose_in_rrbf

protected

Definition at line 439 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_previous_delta_pose_in_rrbf

protected

Definition at line 438 of file JointFilter.h.

double omip::JointFilter::_prior_cov_vel

protected

Definition at line 389 of file JointFilter.h.

Eigen::Vector3d omip::JointFilter::_rrb_centroid_in_sf

protected

Definition at line 385 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_rrb_current_pose_in_sf

protected

Definition at line 417 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_rrb_current_vel_in_sf

protected

Definition at line 420 of file JointFilter.h.

int omip::JointFilter::_rrb_id

protected

Definition at line 456 of file JointFilter.h.

Eigen::Matrix<double, 6, 6> omip::JointFilter::_rrb_pose_cov_in_sf

protected

Definition at line 419 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_rrb_previous_pose_in_sf

protected

Definition at line 418 of file JointFilter.h.

Eigen::Matrix<double, 6, 6> omip::JointFilter::_rrb_vel_cov_in_sf

protected

Definition at line 421 of file JointFilter.h.

double omip::JointFilter::_sigma_meas_noise

protected

Definition at line 397 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_jv

protected

Definition at line 395 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_jvd

protected

Definition at line 396 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_phi

protected

Definition at line 390 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_px

protected

Definition at line 392 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_py

protected

Definition at line 393 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_pz

protected

Definition at line 394 of file JointFilter.h.

double omip::JointFilter::_sigma_sys_noise_theta

protected

Definition at line 391 of file JointFilter.h.

Eigen::Vector3d omip::JointFilter::_srb_centroid_in_sf

protected

Definition at line 386 of file JointFilter.h.

Eigen::Matrix<double, 6, 6> omip::JointFilter::_srb_current_pose_cov_in_rrbf

protected

Definition at line 431 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_current_pose_in_rrbf

protected

Definition at line 430 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_current_pose_in_sf

protected

Definition at line 423 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_current_vel_in_sf

protected

Definition at line 425 of file JointFilter.h.

Eigen::Matrix<double, 6, 6> omip::JointFilter::_srb_initial_pose_cov_in_rrbf

protected

Definition at line 429 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_initial_pose_in_rrbf

protected

Definition at line 428 of file JointFilter.h.

Eigen::Matrix<double, 6, 6> omip::JointFilter::_srb_pose_cov_in_sf

protected

Definition at line 424 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_predicted_pose_in_rrbf

protected

Definition at line 434 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_previous_pose_in_rrbf

protected

Definition at line 433 of file JointFilter.h.

Eigen::Twistd omip::JointFilter::_srb_previous_predicted_pose_in_rrbf

protected

Definition at line 435 of file JointFilter.h.

tf::TransformBroadcaster omip::JointFilter::_tf_pub

protected

Definition at line 452 of file JointFilter.h.

double omip::JointFilter::_uncertainty_joint_acceleration

protected

Definition at line 383 of file JointFilter.h.

Eigen::Matrix2d omip::JointFilter::_uncertainty_joint_orientation_phitheta

protected

Definition at line 364 of file JointFilter.h.

Eigen::Matrix3d omip::JointFilter::_uncertainty_joint_position

protected

Definition at line 356 of file JointFilter.h.

double omip::JointFilter::_uncertainty_joint_state

protected

Definition at line 369 of file JointFilter.h.

double omip::JointFilter::_uncertainty_joint_velocity

protected

Definition at line 377 of file JointFilter.h.

double omip::JointFilter::_unnormalized_model_probability

protected

Definition at line 351 of file JointFilter.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation