#include <PoseUKF.hpp>

Inheritance diagram for pose_estimation::PoseUKF:

Public Member Functions
	PoseUKF (const State &initial_state, const Covariance &state_cov)

virtual	~PoseUKF ()

void	integrateMeasurement (const PositionMeasurement &measurement)

void	integrateMeasurement (const XYMeasurement &measurement)

void	integrateMeasurement (const ZMeasurement &measurement)

void	integrateMeasurement (const OrientationMeasurement &measurement)

void	integrateMeasurement (const VelocityMeasurement &measurement)

void	integrateMeasurement (const XYVelocityMeasurement &measurement)

void	integrateMeasurement (const ZVelocityMeasurement &measurement)

void	integrateMeasurement (const XVelYawVelMeasurement &measurement)

void	integrateMeasurement (const AngularVelocityMeasurement &measurement)

void	integrateMeasurement (const AccelerationMeasurement &measurement)

Public Member Functions inherited from pose_estimation::UnscentedKalmanFilter< PoseWithVelocity >
	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 (const double delta)

Protected Member Functions inherited from pose_estimation::UnscentedKalmanFilter< PoseWithVelocity >
void	checkMeasurment (const Eigen::Matrix< scalar_type, DIM, 1 > &mu, const Eigen::Matrix< scalar_type, DIM, DIM > &cov) const

Protected Attributes
AccelerationMeasurement	acceleration

Protected Attributes inherited from pose_estimation::UnscentedKalmanFilter< PoseWithVelocity >
boost::shared_ptr< MTK_UKF >	ukf

Covariance	process_noise_cov

base::Time	last_measurement_time

double	max_time_delta

double	min_time_delta

Additional Inherited Members
Public Types inherited from pose_estimation::UnscentedKalmanFilter< PoseWithVelocity >
enum

typedef PoseWithVelocity	State

typedef ukfom::mtkwrap< PoseWithVelocity >	WState

typedef ukfom::ukf< WState >	MTK_UKF

typedef MTK_UKF::cov	Covariance

Detailed Description

This filter integrates various linear and angular position and velocity measurements into a 12D pose and velocity state. It is simple to use and doesn't need much configurations. But since its model is limited to the propagation of accelerations and velocities into poses its accuracy will be limited as well, however for a lot of cases sufficient.

Constructor & Destructor Documentation

pose_estimation::PoseUKF::PoseUKF	(	const State &	initial_state,
		const Covariance &	state_cov
	)

virtual pose_estimation::PoseUKF::~PoseUKF ( )

inlinevirtual

Member Function Documentation

void pose_estimation::PoseUKF::integrateMeasurement ( const PositionMeasurement & measurement )

Integrates a 3D position measurement. Body in navigation frame in m.

void pose_estimation::PoseUKF::integrateMeasurement ( const XYMeasurement & measurement )

Integrates a 2D position measurement. XY of body in navigation frame in m.

void pose_estimation::PoseUKF::integrateMeasurement ( const ZMeasurement & measurement )

Integrates a 1D position measurement. Z of body in navigation frame in m.

void pose_estimation::PoseUKF::integrateMeasurement ( const OrientationMeasurement & measurement )

Integrates a 3D orientation measurement. As axis-angle representation of body in navigation frame.

void pose_estimation::PoseUKF::integrateMeasurement ( const VelocityMeasurement & measurement )

Integrates a 3D linear velocity measurement. Velocity of body in m/s.

void pose_estimation::PoseUKF::integrateMeasurement ( const XYVelocityMeasurement & measurement )

Integrates a 2D linear velocity measurement. XY velocity of body in m/s.

void pose_estimation::PoseUKF::integrateMeasurement ( const ZVelocityMeasurement & measurement )

Integrates a 1D linear velocity measurement. Z velocity of body in m/s.

void pose_estimation::PoseUKF::integrateMeasurement ( const XVelYawVelMeasurement & measurement )

Integrates a 2D linear and angular velocity measurement. X velocity of body in m/s and yaw velocity of body in rad/s.

void pose_estimation::PoseUKF::integrateMeasurement ( const AngularVelocityMeasurement & measurement )

Integrates the 3D rotation rates. As angular velocity vector of the body in rad/s.

void pose_estimation::PoseUKF::integrateMeasurement ( const AccelerationMeasurement & measurement )

Sets the current acceleration of the body in m/s^2. Note that this is not integrated but propagated in the prediction step to the velocity. As soon as this is used it should be updated continuously.

void pose_estimation::PoseUKF::predictionStepImpl ( const double delta )

protectedvirtual

Implements pose_estimation::UnscentedKalmanFilter< PoseWithVelocity >.

Member Data Documentation

AccelerationMeasurement pose_estimation::PoseUKF::acceleration

protected

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

/build/rock-master-18.09-slam-pose-estimation-0.20180607/src/pose_with_velocity/PoseUKF.hpp
/build/rock-master-18.09-slam-pose-estimation-0.20180607/src/pose_with_velocity/PoseUKF.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation