AnymalStateEstimator
The state estimator for anymal.
Public Types | Public Member Functions | Protected Attributes | List of all members
tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y > Class Template Reference

#include <ExtFrameCentricAttitudeUpdate.hpp>

Inheritance diagram for tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >:
Inheritance graph

Public Types

typedef ExtFrameCentricAttitudeUpdateBase< PHI_JB, PHI_BV, Y > Base
 
typedef Base::Output Output
 
typedef Base::Previous Previous
 
typedef Base::Current Current
 

Public Member Functions

 ExtFrameCentricAttitudeUpdate ()
 
 ~ExtFrameCentricAttitudeUpdate () override=default
 
int EvalRes (typename Output::Ref out, const typename Previous::CRef pre, const typename Current::CRef cur) override
 
int JacPre (MatRefX J, const typename Previous::CRef pre, const typename Current::CRef cur) override
 
int JacCur (MatRefX J, const typename Previous::CRef pre, const typename Current::CRef cur) override
 
virtual void AddNoise (typename Output::Ref out, MatRefX J_pre, MatRefX J_cur, const typename Previous::CRef pre, const typename Current::CRef cur) override
 
int Extrapolate (const typename Current::CRef pre, typename Current::Ref ext, const double &delta_t)
 
int LoadParameters (const ros::NodeHandle &handle, const std::string &id)
 

Protected Attributes

double huber_threshold_ {std::numeric_limits<double>::max()}
 
bool print_diagnostics_ {false}
 
double max_norm_ {0.}
 

Member Typedef Documentation

template<int PHI_JB, int PHI_BV, int Y = 0>
typedef ExtFrameCentricAttitudeUpdateBase<PHI_JB,PHI_BV,Y> tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::Base
template<int PHI_JB, int PHI_BV, int Y = 0>
typedef Base::Current tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::Current
template<int PHI_JB, int PHI_BV, int Y = 0>
typedef Base::Output tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::Output
template<int PHI_JB, int PHI_BV, int Y = 0>
typedef Base::Previous tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::Previous

Constructor & Destructor Documentation

template<int PHI_JB, int PHI_BV, int Y = 0>
tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::ExtFrameCentricAttitudeUpdate ( )
inline
template<int PHI_JB, int PHI_BV, int Y = 0>
tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::~ExtFrameCentricAttitudeUpdate ( )
overridedefault

Member Function Documentation

template<int PHI_JB, int PHI_BV, int Y = 0>
virtual void tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::AddNoise ( typename Output::Ref  out,
MatRefX  J_pre,
MatRefX  J_cur,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverridevirtual
template<int PHI_JB, int PHI_BV, int Y = 0>
int tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::EvalRes ( typename Output::Ref  out,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride
template<int PHI_JB, int PHI_BV, int Y = 0>
int tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::Extrapolate ( const typename Current::CRef  pre,
typename Current::Ref  ext,
const double &  delta_t 
)
inline
template<int PHI_JB, int PHI_BV, int Y = 0>
int tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride
template<int PHI_JB, int PHI_BV, int Y = 0>
int tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride
template<int PHI_JB, int PHI_BV, int Y = 0>
int tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::LoadParameters ( const ros::NodeHandle &  handle,
const std::string &  id 
)
inline

Member Data Documentation

template<int PHI_JB, int PHI_BV, int Y = 0>
double tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::huber_threshold_ {std::numeric_limits<double>::max()}
protected
template<int PHI_JB, int PHI_BV, int Y = 0>
double tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::max_norm_ {0.}
protected
template<int PHI_JB, int PHI_BV, int Y = 0>
bool tsif::ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y >::print_diagnostics_ {false}
protected
The documentation for this class was generated from the following file: