#include <UnscentedKalmanFilter.hpp>

Inheritance diagram for pose_estimation::UnscentedKalmanFilter< Manifold >:

Public Types
enum	{ DOF = Manifold::DOF }

typedef Manifold	State

typedef ukfom::mtkwrap< Manifold >	WState

typedef ukfom::ukf< WState >	MTK_UKF

typedef MTK_UKF::cov	Covariance

Public Member Functions
	UnscentedKalmanFilter ()

virtual	~UnscentedKalmanFilter ()

void	initializeFilter (const State &initial_state, const Covariance &state_cov)

bool	getCurrentState (State &state, Covariance &state_cov) const

bool	getCurrentState (State &state) const

void	predictionStepFromSampleTime (const base::Time &sample_time)

void	predictionStep (double delta_t)

unsigned	getStateSize () const

bool	isInitialized () const

const Covariance &	getProcessNoiseCovariance () const

void	setProcessNoiseCovariance (const Covariance &noise_cov)

const base::Time &	getLastMeasurementTime () const

void	setLastMeasurementTime (const base::Time &last_measurement_time)

double	getMaxTimeDelta () const

void	setMaxTimeDelta (double max_time_delta)

double	getMinTimeDelta () const

void	setMinTimeDelta (double min_time_delta)

Protected Member Functions
virtual void	predictionStepImpl (double delta_t)=0

template<int DIM, typename scalar_type >
void	checkMeasurment (const Eigen::Matrix< scalar_type, DIM, 1 > &mu, const Eigen::Matrix< scalar_type, DIM, DIM > &cov) const

Protected Attributes
boost::shared_ptr< MTK_UKF >	ukf

Covariance	process_noise_cov

base::Time	last_measurement_time

double	max_time_delta

double	min_time_delta

Member Typedef Documentation

◆ Covariance

template<typename Manifold>

typedef MTK_UKF::cov pose_estimation::UnscentedKalmanFilter< Manifold >::Covariance

◆ MTK_UKF

template<typename Manifold>

typedef ukfom::ukf<WState> pose_estimation::UnscentedKalmanFilter< Manifold >::MTK_UKF

◆ State

template<typename Manifold>

typedef Manifold pose_estimation::UnscentedKalmanFilter< Manifold >::State

◆ WState

template<typename Manifold>

typedef ukfom::mtkwrap<Manifold> pose_estimation::UnscentedKalmanFilter< Manifold >::WState

Member Enumeration Documentation

◆ anonymous enum

template<typename Manifold>

anonymous enum

Enumerator
DOF

Constructor & Destructor Documentation

◆ UnscentedKalmanFilter()

template<typename Manifold>

pose_estimation::UnscentedKalmanFilter< Manifold >::UnscentedKalmanFilter ( )

inline

◆ ~UnscentedKalmanFilter()

template<typename Manifold>

virtual pose_estimation::UnscentedKalmanFilter< Manifold >::~UnscentedKalmanFilter ( )

inlinevirtual

Member Function Documentation

◆ checkMeasurment()

template<typename Manifold>

template<int DIM, typename scalar_type >

void pose_estimation::UnscentedKalmanFilter< Manifold >::checkMeasurment	(	const Eigen::Matrix< scalar_type, DIM, 1 > &	mu,
		const Eigen::Matrix< scalar_type, DIM, DIM > &	cov
	)		const

inlineprotected

◆ getCurrentState() [1/2]

template<typename Manifold>

bool pose_estimation::UnscentedKalmanFilter< Manifold >::getCurrentState	(	State &	state,
		Covariance &	state_cov
	)		const

inline

Provides the current state and covariance of the filter.

Returns: false if the filter has not been initialized.

◆ getCurrentState() [2/2]

template<typename Manifold>

bool pose_estimation::UnscentedKalmanFilter< Manifold >::getCurrentState ( State & state ) const

inline

Provides the current state of the filter.

Returns: false if the filter has not been initialized.

◆ getLastMeasurementTime()

template<typename Manifold>

const base::Time& pose_estimation::UnscentedKalmanFilter< Manifold >::getLastMeasurementTime ( ) const

inline

◆ getMaxTimeDelta()

template<typename Manifold>

double pose_estimation::UnscentedKalmanFilter< Manifold >::getMaxTimeDelta ( ) const

inline

◆ getMinTimeDelta()

template<typename Manifold>

double pose_estimation::UnscentedKalmanFilter< Manifold >::getMinTimeDelta ( ) const

inline

◆ getProcessNoiseCovariance()

template<typename Manifold>

const Covariance& pose_estimation::UnscentedKalmanFilter< Manifold >::getProcessNoiseCovariance ( ) const

inline

◆ getStateSize()

template<typename Manifold>

unsigned pose_estimation::UnscentedKalmanFilter< Manifold >::getStateSize ( ) const

inline

◆ initializeFilter()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::initializeFilter	(	const State &	initial_state,
		const Covariance &	state_cov
	)

inline

(Re-)initializes the UKF filter from a given state.

◆ isInitialized()

template<typename Manifold>

bool pose_estimation::UnscentedKalmanFilter< Manifold >::isInitialized ( ) const

inline

◆ predictionStep()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::predictionStep ( double delta_t )

inline

Calls the predictionStepImpl after checking the delta_t value.

Exceptions

runtime_error if delta_t is negative or greater then the allowed maximum.

◆ predictionStepFromSampleTime()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::predictionStepFromSampleTime ( const base::Time & sample_time )

inline

Computes the time delta from a given sample timestamp and calls predictionStep(delta_t)

Exceptions

runtime_error if delta_t is negative or greater then the allowed maximum.

◆ predictionStepImpl()

template<typename Manifold>

virtual void pose_estimation::UnscentedKalmanFilter< Manifold >::predictionStepImpl ( double delta_t )

protectedpure virtual

Implemented in pose_estimation::PoseUKF, and pose_estimation::OrientationUKF.

◆ setLastMeasurementTime()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::setLastMeasurementTime ( const base::Time & last_measurement_time )

inline

◆ setMaxTimeDelta()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::setMaxTimeDelta ( double max_time_delta )

inline

◆ setMinTimeDelta()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::setMinTimeDelta ( double min_time_delta )

inline

◆ setProcessNoiseCovariance()

template<typename Manifold>

void pose_estimation::UnscentedKalmanFilter< Manifold >::setProcessNoiseCovariance ( const Covariance & noise_cov )

inline

Member Data Documentation

◆ last_measurement_time

template<typename Manifold>

base::Time pose_estimation::UnscentedKalmanFilter< Manifold >::last_measurement_time

protected

◆ max_time_delta

template<typename Manifold>

double pose_estimation::UnscentedKalmanFilter< Manifold >::max_time_delta

protected

◆ min_time_delta

template<typename Manifold>

double pose_estimation::UnscentedKalmanFilter< Manifold >::min_time_delta

protected

◆ process_noise_cov

template<typename Manifold>

Covariance pose_estimation::UnscentedKalmanFilter< Manifold >::process_noise_cov

protected

◆ ukf

template<typename Manifold>

boost::shared_ptr<MTK_UKF> pose_estimation::UnscentedKalmanFilter< Manifold >::ukf

protected

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

/build/rock-master-18.09-slam-pose-estimation-0.20180607/src/UnscentedKalmanFilter.hpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Covariance

◆ MTK_UKF

◆ State

◆ WState

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ UnscentedKalmanFilter()

◆ ~UnscentedKalmanFilter()

Member Function Documentation

◆ checkMeasurment()

◆ getCurrentState() [1/2]

◆ getCurrentState() [2/2]

◆ getLastMeasurementTime()

◆ getMaxTimeDelta()

◆ getMinTimeDelta()

◆ getProcessNoiseCovariance()

◆ getStateSize()

◆ initializeFilter()

◆ isInitialized()

◆ predictionStep()

◆ predictionStepFromSampleTime()

◆ predictionStepImpl()

◆ setLastMeasurementTime()

◆ setMaxTimeDelta()

◆ setMinTimeDelta()

◆ setProcessNoiseCovariance()

Member Data Documentation

◆ last_measurement_time

◆ max_time_delta

◆ min_time_delta

◆ process_noise_cov

◆ ukf