Struct Unicycle2DIgnitionParams

Inheritance Relationships

Base Type

Struct Documentation

struct Unicycle2DIgnitionParams : public fuse_models::parameters::ParameterBase

Defines the set of parameters required by the Unicycle2DIgnition class.

Public Functions

inline virtual void loadFromROS(fuse_core::node_interfaces::NodeInterfaces<fuse_core::node_interfaces::Base, fuse_core::node_interfaces::Logging, fuse_core::node_interfaces::Parameters> interfaces, const std::string &ns)

Method for loading parameter values from ROS.

Parameters:

  • interfaces – [in] - The node interfaces with which to load parameters

  • ns – [in] - The parameter namespace to use

Public Members

bool publish_on_startup = {true}

Flag indicating if an initial state transaction should be sent on startup, or only in response to a set_pose service call or topic message.

int queue_size = {10}

The size of the subscriber queue for the set_pose topic.

std::string reset_service = {"~/reset"}

The name of the reset service to call before sending transactions to the optimizer.

std::string set_pose_service = {"set_pose"}

The name of the set_pose service to advertise.

std::string set_pose_deprecated_service = {"set_pose_deprecated"}

The name of the deprecated set_pose service without return codes.

std::string topic = {"set_pose"}

The topic name for received PoseWithCovarianceStamped messages.

std::vector<double> initial_sigma{1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9, 1.0e-9}

The uncertainty of the initial state value.

Standard deviations are provided as an 8-dimensional vector in the order: (x, y, yaw, x_vel, y_vel, yaw_vel, x_acc, y_acc) The covariance matrix is created placing the squared standard deviations along the diagonal of an 8x8 matrix.

std::vector<double> initial_state = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0}

The initial value of the 8-dimension state vector (x, y, yaw, x_vel, y_vel, yaw_vel, x_acc, y_acc)

fuse_core::Loss::SharedPtr loss

Loss function.