pose_estimation Namespace Reference

Classes
struct	BodyStateMeasurement
class	GeographicProjection
class	GravitationalModel
struct	InertialNoiseParameters
struct	LocationConfiguration
class	OrientationUKF
struct	OrientationUKFConfig
class	PoseUKF
class	StreamAlignmentVerifier
class	UnscentedKalmanFilter

Typedefs
typedef ukfom::mtkwrap< MTK::SO3< double > >	RotationType
typedef ukfom::mtkwrap< RotationType::vect_type >	VelocityType
typedef ukfom::mtkwrap< RotationType::vect_type >	BiasType
typedef ukfom::mtkwrap< MTK::vect< 1 > >	GravityType
typedef ukfom::mtkwrap< RotationType::vect_type >	TranslationType

Functions
template<typename OrientationState >
OrientationState	processModel (const OrientationState &state, const Eigen::Vector3d &acc, const Eigen::Vector3d &omega, double gyro_bias_tau, double acc_bias_tau, const Eigen::Vector3d &earth_rotation, double delta_time)
template<typename OrientationState >
VelocityType	velocityMeasurementModel (const OrientationState &state)
template<typename PoseWithVelocityType >
TranslationType	measurementPosition (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
Eigen::Matrix< TranslationType::scalar, 2, 1 >	measurementXYPosition (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
Eigen::Matrix< TranslationType::scalar, 1, 1 >	measurementZPosition (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
RotationType	measurementOrientation (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
VelocityType	measurementVelocity (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
Eigen::Matrix< VelocityType::scalar, 2, 1 >	measurementXYVelocity (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
Eigen::Matrix< VelocityType::scalar, 1, 1 >	measurementZVelocity (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
Eigen::Matrix< VelocityType::scalar, 2, 1 >	measurementXVelYawVel (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
VelocityType	measurementAngularVelocity (const PoseWithVelocityType &state)
template<typename PoseWithVelocityType >
PoseWithVelocityType	processModel (const PoseWithVelocityType &state, double delta_time)
template<typename PoseWithVelocityType >
PoseWithVelocityType	processModelWithAcceleration (const PoseWithVelocityType &state, const Eigen::Vector3d &acc, double delta_time)

Detailed Description

MTK library

Typedef Documentation

BiasType

typedef ukfom::mtkwrap<RotationType::vect_type> pose_estimation::BiasType

GravityType

typedef ukfom::mtkwrap< MTK::vect<1> > pose_estimation::GravityType

RotationType

typedef ukfom::mtkwrap< MTK::SO3< double > > pose_estimation::RotationType

TranslationType

typedef ukfom::mtkwrap<RotationType::vect_type> pose_estimation::TranslationType

VelocityType

typedef ukfom::mtkwrap< RotationType::vect_type > pose_estimation::VelocityType

Function Documentation

measurementAngularVelocity()

template<typename PoseWithVelocityType >

VelocityType pose_estimation::measurementAngularVelocity

(

const PoseWithVelocityType &

state

)

measurementOrientation()

template<typename PoseWithVelocityType >

RotationType pose_estimation::measurementOrientation

(

const PoseWithVelocityType &

state

)

measurementPosition()

template<typename PoseWithVelocityType >

TranslationType pose_estimation::measurementPosition

(

const PoseWithVelocityType &

state

)

measurementVelocity()

template<typename PoseWithVelocityType >

VelocityType pose_estimation::measurementVelocity

(

const PoseWithVelocityType &

state

)

measurementXVelYawVel()

template<typename PoseWithVelocityType >

Eigen::Matrix<VelocityType::scalar, 2, 1> pose_estimation::measurementXVelYawVel

(

const PoseWithVelocityType &

state

)

measurementXYPosition()

template<typename PoseWithVelocityType >

Eigen::Matrix<TranslationType::scalar, 2, 1> pose_estimation::measurementXYPosition

(

const PoseWithVelocityType &

state

)

measurementXYVelocity()

template<typename PoseWithVelocityType >

Eigen::Matrix<VelocityType::scalar, 2, 1> pose_estimation::measurementXYVelocity

(

const PoseWithVelocityType &

state

)

measurementZPosition()

template<typename PoseWithVelocityType >

Eigen::Matrix<TranslationType::scalar, 1, 1> pose_estimation::measurementZPosition

(

const PoseWithVelocityType &

state

)

measurementZVelocity()

template<typename PoseWithVelocityType >

Eigen::Matrix<VelocityType::scalar, 1, 1> pose_estimation::measurementZVelocity

(

const PoseWithVelocityType &

state

)

processModel() [1/2]

template<typename OrientationState >

OrientationState pose_estimation::processModel	(	const OrientationState &	state,
		const Eigen::Vector3d &	acc,
		const Eigen::Vector3d &	omega,
		double	gyro_bias_tau,
		double	acc_bias_tau,
		const Eigen::Vector3d &	earth_rotation,
		double	delta_time
	)

Process model for the robot orientation

processModel() [2/2]

template<typename PoseWithVelocityType >

PoseWithVelocityType pose_estimation::processModel	(	const PoseWithVelocityType &	state,
		double	delta_time
	)

Process model for the 12D robot state. Applies the current velocity to update the robot pose.

processModelWithAcceleration()

template<typename PoseWithVelocityType >

PoseWithVelocityType pose_estimation::processModelWithAcceleration	(	const PoseWithVelocityType &	state,
		const Eigen::Vector3d &	acc,
		double	delta_time
	)

Process model with acceleration for the 12D robot state. Applies the current velocity and acceleration to update the robot pose.

velocityMeasurementModel()

template<typename OrientationState >

VelocityType pose_estimation::velocityMeasurementModel

(

const OrientationState &

state

)