Class CRobot2DPoseEstimator

Nested Relationships

Nested Types

Class Documentation

class CRobot2DPoseEstimator

A simple filter to estimate and extrapolate the robot 2D (x,y,phi) pose from asynchronous odometry and localization/SLAM data. The implemented model is a state vector:

  • TPose2D (x,y,phi) + TTwist2D (vx,vy,omega) The filter can be asked for an extrapolation for some arbitrary time t`, and it’ll do a simple linear prediction. All methods are thread-safe.

Public Functions

CRobot2DPoseEstimator()

Default constructor

virtual ~CRobot2DPoseEstimator()

Destructor

void reset()

Resets all internal state.

void processUpdateNewPoseLocalization(const mrpt::math::TPose2D &newPose, mrpt::Clock::time_point tim)

Updates the filter with new global-coordinates localization data from a localization or SLAM source.

Parameters:

tim – The timestamp of the sensor readings used to evaluate localization / SLAM.

void processUpdateNewOdometry(const mrpt::math::TPose2D &newGlobalOdometry, mrpt::Clock::time_point cur_tim, bool hasVelocities = false, const mrpt::math::TTwist2D &newRobotVelLocal = mrpt::math::TTwist2D())

Updates the filter with new odometry readings.

bool getCurrentEstimate(mrpt::math::TPose2D &pose, mrpt::math::TTwist2D &velLocal, mrpt::math::TTwist2D &velGlobal, mrpt::Clock::time_point tim_query = mrpt::Clock::now()) const

Get the estimate for a given timestamp (defaults to now()), obtained as:

last_loc (+) [ last_odo (-) odo_ref ] (+) extrapolation_from_vw

See also

getLatestRobotPose

Returns:

true is the estimate can be trusted. False if the real observed data is too old or there is no valid data yet.

bool getLatestRobotPose(mrpt::math::TPose2D &pose) const

Get the latest known robot pose, either from odometry or localization. This differs from getCurrentEstimate() in that this method does NOT extrapolate as getCurrentEstimate() does.

See also

getCurrentEstimate

Returns:

false if there is not estimation yet.

bool getLatestRobotPose(mrpt::poses::CPose2D &pose) const

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Public Members

TOptions params

parameters of the filter.

Public Static Functions

static void extrapolateRobotPose(const mrpt::math::TPose2D &p, const mrpt::math::TTwist2D &robot_vel_local, const double delta_time, mrpt::math::TPose2D &new_p)

Auxiliary static method to extrapolate the pose of a robot located at “p” with velocities (v,w) after a time delay “delta_time”.

struct TOptions

Public Functions

TOptions() = default

Public Members

double max_odometry_age = {1.0}

To consider data old, in seconds

double max_localiz_age = {4.0}

To consider data old, in seconds