State of our filter. More...

#include <State.h>

Public Member Functions
int	imu_intrinsic_size () const
	Calculates the error state size for imu intrinsics. More...

double	margtimestep ()
	Will return the timestep that we will marginalize next. As of right now, since we are using a sliding window, this is the oldest clone. But if you wanted to do a keyframe system, you could selectively marginalize clones. More...

int	max_covariance_size ()
	Calculates the current max size of the covariance. More...

	State (StateOptions &options_)
	Default Constructor (will initialize variables to defaults) More...

	~State ()

Static Public Member Functions
static Eigen::Matrix3d	Dm (StateOptions::ImuModel imu_model, const Eigen::MatrixXd &vec)
	Gyroscope and accelerometer intrinsic matrix (scale imperfection and axis misalignment) More...

static Eigen::Matrix3d	Tg (const Eigen::MatrixXd &vec)
	Gyroscope gravity sensitivity. More...

Public Attributes
std::shared_ptr< ov_type::Vec >	_calib_dt_CAMtoIMU
	Time offset base IMU to camera (t_imu = t_cam + t_off) More...

std::shared_ptr< ov_type::JPLQuat >	_calib_imu_ACCtoIMU
	Rotation from accelerometer to the "IMU" gyroscope frame frame (rpng model) More...

std::shared_ptr< ov_type::Vec >	_calib_imu_da
	Accelerometer IMU intrinsics (scale imperfection and axis misalignment) More...

std::shared_ptr< ov_type::Vec >	_calib_imu_dw
	Gyroscope IMU intrinsics (scale imperfection and axis misalignment) More...

std::shared_ptr< ov_type::JPLQuat >	_calib_imu_GYROtoIMU
	Rotation from gyroscope frame to the "IMU" accelerometer frame (kalibr model) More...

std::shared_ptr< ov_type::Vec >	_calib_imu_tg
	Gyroscope gravity sensitivity. More...

std::unordered_map< size_t, std::shared_ptr< ov_type::PoseJPL > >	_calib_IMUtoCAM
	Calibration poses for each camera (R_ItoC, p_IinC) More...

std::unordered_map< size_t, std::shared_ptr< ov_type::Vec > >	_cam_intrinsics
	Camera intrinsics. More...

std::unordered_map< size_t, std::shared_ptr< ov_core::CamBase > >	_cam_intrinsics_cameras
	Camera intrinsics camera objects. More...

std::map< double, std::shared_ptr< ov_type::PoseJPL > >	_clones_IMU
	Map between imaging times and clone poses (q_GtoIi, p_IiinG) More...

std::unordered_map< size_t, std::shared_ptr< ov_type::Landmark > >	_features_SLAM
	Our current set of SLAM features (3d positions) More...

std::shared_ptr< ov_type::IMU >	_imu
	Pointer to the "active" IMU state (q_GtoI, p_IinG, v_IinG, bg, ba) More...

std::mutex	_mutex_state
	Mutex for locking access to the state. More...

StateOptions	_options
	Struct containing filter options. More...

double	_timestamp = -1
	Current timestamp (should be the last update time in camera clock frame!) More...

Private Attributes
Eigen::MatrixXd	_Cov
	Covariance of all active variables. More...

std::vector< std::shared_ptr< ov_type::Type > >	_variables
	Vector of variables. More...

Friends
class	StateHelper

Detailed Description

State of our filter.

This state has all the current estimates for the filter. This system is modeled after the MSCKF filter, thus we have a sliding window of clones. We additionally have more parameters for online estimation of calibration and SLAM features. We also have the covariance of the system, which should be managed using the StateHelper class.

Definition at line 49 of file State.h.

Constructor & Destructor Documentation

◆ State()

State::State ( StateOptions & options_ )

Default Constructor (will initialize variables to defaults)

Parameters

options_ Options structure containing filter options

Definition at line 28 of file State.cpp.

◆ ~State()

ov_msckf::State::~State ( )

inline

Definition at line 58 of file State.h.

Member Function Documentation

◆ Dm()

static Eigen::Matrix3d ov_msckf::State::Dm	(	StateOptions::ImuModel	imu_model,
		const Eigen::MatrixXd &	vec
	)

inlinestatic

Gyroscope and accelerometer intrinsic matrix (scale imperfection and axis misalignment)

If kalibr model, lower triangular of the matrix is used If rpng model, upper triangular of the matrix is used

Returns: 3x3 matrix of current imu gyroscope / accelerometer intrinsics

Definition at line 91 of file State.h.

◆ imu_intrinsic_size()

int ov_msckf::State::imu_intrinsic_size ( ) const

inline

Calculates the error state size for imu intrinsics.

This is used to construct our state transition which depends on if we are estimating calibration. 15 if doing intrinsics, another +9 if doing grav sensitivity

Returns: size of error state

Definition at line 126 of file State.h.

◆ margtimestep()

double ov_msckf::State::margtimestep ( )

inline

Will return the timestep that we will marginalize next. As of right now, since we are using a sliding window, this is the oldest clone. But if you wanted to do a keyframe system, you could selectively marginalize clones.

Returns: timestep of clone we will marginalize

Definition at line 66 of file State.h.

◆ max_covariance_size()

int ov_msckf::State::max_covariance_size ( )

inline

Calculates the current max size of the covariance.

Returns: Size of the current covariance matrix

Definition at line 81 of file State.h.

◆ Tg()

static Eigen::Matrix3d ov_msckf::State::Tg ( const Eigen::MatrixXd & vec )

inlinestatic

Gyroscope gravity sensitivity.

For both kalibr and rpng models, this a 3x3 that is column-wise filled.

Returns: 3x3 matrix of current gravity sensitivity

Definition at line 110 of file State.h.

Friends And Related Function Documentation

◆ StateHelper

friend class StateHelper

friend

Definition at line 186 of file State.h.

Member Data Documentation

◆ _calib_dt_CAMtoIMU

std::shared_ptr<ov_type::Vec> ov_msckf::State::_calib_dt_CAMtoIMU

Time offset base IMU to camera (t_imu = t_cam + t_off)

Definition at line 156 of file State.h.

◆ _calib_imu_ACCtoIMU

std::shared_ptr<ov_type::JPLQuat> ov_msckf::State::_calib_imu_ACCtoIMU

Rotation from accelerometer to the "IMU" gyroscope frame frame (rpng model)

Definition at line 180 of file State.h.

◆ _calib_imu_da

std::shared_ptr<ov_type::Vec> ov_msckf::State::_calib_imu_da

Accelerometer IMU intrinsics (scale imperfection and axis misalignment)

Definition at line 171 of file State.h.

◆ _calib_imu_dw

std::shared_ptr<ov_type::Vec> ov_msckf::State::_calib_imu_dw

Gyroscope IMU intrinsics (scale imperfection and axis misalignment)

Definition at line 168 of file State.h.

◆ _calib_imu_GYROtoIMU

std::shared_ptr<ov_type::JPLQuat> ov_msckf::State::_calib_imu_GYROtoIMU

Rotation from gyroscope frame to the "IMU" accelerometer frame (kalibr model)

Definition at line 177 of file State.h.

◆ _calib_imu_tg

std::shared_ptr<ov_type::Vec> ov_msckf::State::_calib_imu_tg

Gyroscope gravity sensitivity.

Definition at line 174 of file State.h.

◆ _calib_IMUtoCAM

std::unordered_map<size_t, std::shared_ptr<ov_type::PoseJPL> > ov_msckf::State::_calib_IMUtoCAM

Calibration poses for each camera (R_ItoC, p_IinC)

Definition at line 159 of file State.h.

◆ _cam_intrinsics

std::unordered_map<size_t, std::shared_ptr<ov_type::Vec> > ov_msckf::State::_cam_intrinsics

Camera intrinsics.

Definition at line 162 of file State.h.

◆ _cam_intrinsics_cameras

std::unordered_map<size_t, std::shared_ptr<ov_core::CamBase> > ov_msckf::State::_cam_intrinsics_cameras

Camera intrinsics camera objects.

Definition at line 165 of file State.h.

◆ _clones_IMU

std::map<double, std::shared_ptr<ov_type::PoseJPL> > ov_msckf::State::_clones_IMU

Map between imaging times and clone poses (q_GtoIi, p_IiinG)

Definition at line 150 of file State.h.

◆ _Cov

Eigen::MatrixXd ov_msckf::State::_Cov

private

Covariance of all active variables.

Definition at line 189 of file State.h.

◆ _features_SLAM

std::unordered_map<size_t, std::shared_ptr<ov_type::Landmark> > ov_msckf::State::_features_SLAM

Our current set of SLAM features (3d positions)

Definition at line 153 of file State.h.

◆ _imu

std::shared_ptr<ov_type::IMU> ov_msckf::State::_imu

Pointer to the "active" IMU state (q_GtoI, p_IinG, v_IinG, bg, ba)

Definition at line 147 of file State.h.

◆ _mutex_state

std::mutex ov_msckf::State::_mutex_state

Mutex for locking access to the state.

Definition at line 138 of file State.h.

◆ _options

StateOptions ov_msckf::State::_options

Struct containing filter options.

Definition at line 144 of file State.h.

◆ _timestamp

double ov_msckf::State::_timestamp = -1

Current timestamp (should be the last update time in camera clock frame!)

Definition at line 141 of file State.h.

◆ _variables

std::vector<std::shared_ptr<ov_type::Type> > ov_msckf::State::_variables

private

Vector of variables.

Definition at line 192 of file State.h.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ State()

◆ ~State()

Member Function Documentation

◆ Dm()

◆ imu_intrinsic_size()

◆ margtimestep()

◆ max_covariance_size()

◆ Tg()

Friends And Related Function Documentation

◆ StateHelper

Member Data Documentation

◆ _calib_dt_CAMtoIMU

◆ _calib_imu_ACCtoIMU

◆ _calib_imu_da

◆ _calib_imu_dw

◆ _calib_imu_GYROtoIMU

◆ _calib_imu_tg

◆ _calib_IMUtoCAM

◆ _cam_intrinsics

◆ _cam_intrinsics_cameras

◆ _clones_IMU

◆ _Cov

◆ _features_SLAM

◆ _imu

◆ _mutex_state

◆ _options

◆ _timestamp

◆ _variables