hector_pose_estimation::MagneticModel Class Reference

#include <magnetic.h>

Inheritance diagram for hector_pose_estimation::MagneticModel:

Public Member Functions
virtual void	getExpectedValue (MeasurementVector &y_pred, const State &state)
double	getMagneticHeading (const State &state, const MeasurementVector &y) const
virtual void	getMeasurementNoise (NoiseVariance &R, const State &, bool init)
virtual void	getStateJacobian (MeasurementMatrix &C, const State &state, bool init)
virtual SystemStatus	getStatusFlags ()
double	getTrueHeading (const State &state, const MeasurementVector &y) const
bool	hasMagnitude () const
virtual bool	init (PoseEstimation &estimator, Measurement &measurement, State &state)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MagneticModel ()
void	setReference (const GlobalReference::Heading &reference_heading)
virtual	~MagneticModel ()
Public Member Functions inherited from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >
MagneticModel *	derived ()
const MagneticModel *	derived () const
virtual int	getDimension () const
virtual const MeasurementVector *	getFixedMeasurementVector () const
virtual void	getInputJacobian (InputMatrix &D, const State &state, bool init=true)
virtual void	limitError (MeasurementVector &error)
virtual	~MeasurementModel_ ()

Protected Member Functions
void	updateMagneticField ()

Protected Attributes
double	declination_
double	inclination_
MeasurementVector	magnetic_field_north_
MeasurementVector	magnetic_field_reference_
double	magnitude_
double	stddev_

Detailed Description

Definition at line 37 of file magnetic.h.

Constructor & Destructor Documentation

MagneticModel()

hector_pose_estimation::MagneticModel::MagneticModel

(

)

Definition at line 38 of file magnetic.cpp.

~MagneticModel()

hector_pose_estimation::MagneticModel::~MagneticModel ( )

virtual

Definition at line 47 of file magnetic.cpp.

Member Function Documentation

getExpectedValue()

void hector_pose_estimation::MagneticModel::getExpectedValue ( MeasurementVector &  y_pred, const State &  state  )

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >.

Definition at line 68 of file magnetic.cpp.

getMagneticHeading()

double hector_pose_estimation::MagneticModel::getMagneticHeading	(	const State &	state,
		const MeasurementVector &	y
	)		const

Definition at line 84 of file magnetic.cpp.

getMeasurementNoise()

void hector_pose_estimation::MagneticModel::getMeasurementNoise ( NoiseVariance &  R, const State &  , bool  init  )

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >.

Definition at line 61 of file magnetic.cpp.

getStateJacobian()

void hector_pose_estimation::MagneticModel::getStateJacobian ( MeasurementMatrix &  C, const State &  state, bool  init  )

virtual

Reimplemented from hector_pose_estimation::MeasurementModel_< MagneticModel, 3 >.

Definition at line 74 of file magnetic.cpp.

getStatusFlags()

virtual SystemStatus hector_pose_estimation::MagneticModel::getStatusFlags ( )

inlinevirtual

Definition at line 46 of file magnetic.h.

getTrueHeading()

double hector_pose_estimation::MagneticModel::getTrueHeading	(	const State &	state,
		const MeasurementVector &	y
	)		const

Definition at line 90 of file magnetic.cpp.

hasMagnitude()

bool hector_pose_estimation::MagneticModel::hasMagnitude ( ) const

inline

Definition at line 56 of file magnetic.h.

init()

bool hector_pose_estimation::MagneticModel::init ( PoseEstimation &  estimator, Measurement &  measurement, State &  state  )

virtual

Definition at line 49 of file magnetic.cpp.

setReference()

void hector_pose_estimation::MagneticModel::setReference

(

const GlobalReference::Heading &

reference_heading

)

Definition at line 55 of file magnetic.cpp.

updateMagneticField()

void hector_pose_estimation::MagneticModel::updateMagneticField ( )

protected

Definition at line 94 of file magnetic.cpp.

Member Data Documentation

declination_

double hector_pose_estimation::MagneticModel::declination_

protected

Definition at line 60 of file magnetic.h.

inclination_

double hector_pose_estimation::MagneticModel::inclination_

protected

Definition at line 60 of file magnetic.h.

magnetic_field_north_

MeasurementVector hector_pose_estimation::MagneticModel::magnetic_field_north_

protected

Definition at line 63 of file magnetic.h.

magnetic_field_reference_

MeasurementVector hector_pose_estimation::MagneticModel::magnetic_field_reference_

protected

Definition at line 64 of file magnetic.h.

magnitude_

double hector_pose_estimation::MagneticModel::magnitude_

protected

Definition at line 60 of file magnetic.h.

stddev_

double hector_pose_estimation::MagneticModel::stddev_

protected

Definition at line 59 of file magnetic.h.

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

• magnetic.h
• magnetic.cpp