The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow. More...

#include <OrientationEstimator.hpp>

Inheritance diagram for pose_estimation::OrientationEstimator:

Public Member Functions
	OrientationEstimator (std::string const &name="pose_estimation::OrientationEstimator")

	OrientationEstimator (std::string const &name, RTT::ExecutionEngine *engine)

	~OrientationEstimator ()

bool	configureHook ()
	The following lines are template definitions for the various state machine. More...

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

Protected Member Functions
virtual void	imu_sensor_samplesTransformerCallback (const base::Time &ts, const ::base::samples::IMUSensors &imu_sensor_samples_sample)

virtual void	velocity_samplesTransformerCallback (const base::Time &ts, const ::base::samples::RigidBodyState &velocity_samples_sample)

virtual bool	addHeadingOffset (double heading_offset, double variance)

void	predictionStep (const base::Time &sample_time)

bool	initializeFilter (const Eigen::Quaterniond &orientation, const Eigen::Matrix3d &orientation_cov, const OrientationUKFConfig &filter_config)

bool	setProcessNoise (const OrientationUKFConfig &filter_config, double sensor_delta_t)

Protected Attributes
boost::shared_ptr< pose_estimation::OrientationUKF >	orientation_estimator

boost::shared_ptr< pose_estimation::StreamAlignmentVerifier >	verifier

Eigen::Affine3d	imu_in_body_translation

Eigen::Quaterniond	imu_in_body_rotation

Eigen::Matrix3d	cov_angular_velocity

Eigen::Matrix3d	cov_acceleration

Eigen::Matrix3d	cov_velocity_unknown

base::Time	last_velocity_sample_time

bool	velocity_unknown

States	last_state

States	new_state

Friends
class	OrientationEstimatorBase

Detailed Description

The task context provides and requires services. It uses an ExecutionEngine to perform its functions. Essential interfaces are operations, data flow ports and properties. These interfaces have been defined using the oroGen specification. In order to modify the interfaces you should (re)use oroGen and rely on the associated workflow.

The name of a TaskContext is primarily defined via:

deployment 'deployment_name'
    task('custom_task_name','pose_estimation::OrientationEstimator')
end

It can be dynamically adapted when the deployment is called with a prefix argument.

Constructor & Destructor Documentation

OrientationEstimator::OrientationEstimator ( std::string const & name = "pose_estimation::OrientationEstimator" )

TaskContext constructor for OrientationEstimator

Parameters

name	Name of the task. This name needs to be unique to make it identifiable via nameservices.
initial_state	The initial TaskState of the TaskContext. Default is Stopped state.

OrientationEstimator::OrientationEstimator	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

TaskContext constructor for OrientationEstimator

Parameters

name	Name of the task. This name needs to be unique to make it identifiable for nameservices.
engine	The RTT Execution engine to be used for this task, which serialises the execution of all commands, programs, state machines and incoming events for a task.

OrientationEstimator::~OrientationEstimator ( )

Default deconstructor of OrientationEstimator

Member Function Documentation

bool OrientationEstimator::addHeadingOffset	(	double	heading_offset,
		double	variance
	)

protectedvirtual

Add an offset to the current heading and reinitialize the filter. This is commonly used to align the heading estimate to the true north.

void OrientationEstimator::cleanupHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to PreOperational, requiring the call to configureHook() before calling start() again.

bool OrientationEstimator::configureHook ( )

The following lines are template definitions for the various state machine.

This hook is called by Orocos when the state machine transitions from PreOperational to Stopped. If it returns false, then the component will stay in PreOperational. Otherwise, it goes into Stopped.

It is meaningful only if the #needs_configuration has been specified in the task context definition with (for example):

task_context "TaskName" do
  needs_configuration
  ...
end

void OrientationEstimator::errorHook ( )

This hook is called by Orocos when the component is in the RunTimeError state, at each activity step. See the discussion in updateHook() about triggering options.

Call recover() to go back in the Runtime state.

void OrientationEstimator::imu_sensor_samplesTransformerCallback	(	const base::Time &	ts,
		const ::base::samples::IMUSensors &	imu_sensor_samples_sample
	)

protectedvirtual

bool OrientationEstimator::initializeFilter	(	const Eigen::Quaterniond &	orientation,
		const Eigen::Matrix3d &	orientation_cov,
		const OrientationUKFConfig &	filter_config
	)

protected

void OrientationEstimator::predictionStep ( const base::Time & sample_time )

protected

Applies a prediction step of the filter with a given current sample time. The delta time step is the difference between the last sample time and the current one.

bool OrientationEstimator::setProcessNoise	(	const OrientationUKFConfig &	filter_config,
		double	sensor_delta_t
	)

protected

bool OrientationEstimator::startHook ( )

This hook is called by Orocos when the state machine transitions from Stopped to Running. If it returns false, then the component will stay in Stopped. Otherwise, it goes into Running and updateHook() will be called.

void OrientationEstimator::stopHook ( )

This hook is called by Orocos when the state machine transitions from Running to Stopped after stop() has been called.

void OrientationEstimator::updateHook ( )

This hook is called by Orocos when the component is in the Running state, at each activity step. Here, the activity gives the "ticks" when the hook should be called.

The error(), exception() and fatal() calls, when called in this hook, allow to get into the associated RunTimeError, Exception and FatalError states.

In the first case, updateHook() is still called, and recover() allows you to go back into the Running state. In the second case, the errorHook() will be called instead of updateHook(). In Exception, the component is stopped and recover() needs to be called before starting it again. Finally, FatalError cannot be recovered.

void OrientationEstimator::velocity_samplesTransformerCallback	(	const base::Time &	ts,
		const ::base::samples::RigidBodyState &	velocity_samples_sample
	)

protectedvirtual

Friends And Related Function Documentation

friend class OrientationEstimatorBase

friend

Member Data Documentation

Eigen::Matrix3d pose_estimation::OrientationEstimator::cov_acceleration

protected

Eigen::Matrix3d pose_estimation::OrientationEstimator::cov_angular_velocity

protected

Eigen::Matrix3d pose_estimation::OrientationEstimator::cov_velocity_unknown

protected

Eigen::Quaterniond pose_estimation::OrientationEstimator::imu_in_body_rotation

protected

Eigen::Affine3d pose_estimation::OrientationEstimator::imu_in_body_translation

protected

States pose_estimation::OrientationEstimator::last_state

protected

base::Time pose_estimation::OrientationEstimator::last_velocity_sample_time

protected

States pose_estimation::OrientationEstimator::new_state

protected

boost::shared_ptr<pose_estimation::OrientationUKF> pose_estimation::OrientationEstimator::orientation_estimator

protected

bool pose_estimation::OrientationEstimator::velocity_unknown

protected

boost::shared_ptr<pose_estimation::StreamAlignmentVerifier> pose_estimation::OrientationEstimator::verifier

protected

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

/build/rock-master-18.09-slam-orogen-pose-estimation-0.20180717/tasks/OrientationEstimator.hpp
/build/rock-master-18.09-slam-orogen-pose-estimation-0.20180717/tasks/OrientationEstimator.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation