AnymalStateEstimator
The state estimator for anymal.
tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI > Class Template Reference

#include <ExtFrameCentricPoseUpdate.hpp>

Inheritance diagram for tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >:
Inheritance graph

Public Types

typedef ExtFrameCentricPoseUpdateBase< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI > Base
 
typedef Base::Output Output
 
typedef Base::Previous Previous
 
typedef Base::Current Current
 
typedef ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y_R > ExtFrameCentricPositionUpdateType
 
typedef ExtFrameCentricAttitudeUpdate< PHI_JB, PHI_BV, Y_PHI > ExtFrameCentricAttitudeUpdateType
 

Public Member Functions

 ExtFrameCentricPoseUpdate ()
 
int EvalRes (typename Output::Ref out, const typename Previous::CRef pre, const typename Current::CRef cur)
 
int JacPre (MatRefX J, const typename Previous::CRef pre, const typename Current::CRef cur)
 
int JacCur (MatRefX J, const typename Previous::CRef pre, const typename Current::CRef cur)
 
virtual void AddNoise (typename Output::Ref out, MatRefX J_pre, MatRefX J_cur, const typename Previous::CRef pre, const typename Current::CRef cur)
 
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)
 

Public Attributes

ExtFrameCentricPositionUpdateType positionUpdate_
 
ExtFrameCentricAttitudeUpdateType attitudeUpdate_
 

Member Typedef Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef ExtFrameCentricPoseUpdateBase<J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI> tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::Base
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef Base::Current tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::Current
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef ExtFrameCentricAttitudeUpdate<PHI_JB, PHI_BV, Y_PHI> tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::ExtFrameCentricAttitudeUpdateType
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef ExtFrameCentricPositionUpdate<J_R_JB, PHI_JB, B_R_BV, Y_R> tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::ExtFrameCentricPositionUpdateType
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef Base::Output tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::Output
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef Base::Previous tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::Previous

Constructor & Destructor Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::ExtFrameCentricPoseUpdate ( )
inline

Member Function Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
virtual void tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::AddNoise ( typename Output::Ref  out,
MatRefX  J_pre,
MatRefX  J_cur,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlinevirtual
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::EvalRes ( typename Output::Ref  out,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::Extrapolate ( const typename Current::CRef  pre,
typename Current::Ref  ext,
const double &  delta_t 
)
inline
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::LoadParameters ( const ros::NodeHandle &  handle,
const std::string &  id 
)
inline

Member Data Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
ExtFrameCentricAttitudeUpdateType tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::attitudeUpdate_
template<int J_R_JB, int PHI_JB, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
ExtFrameCentricPositionUpdateType tsif::ExtFrameCentricPoseUpdate< J_R_JB, PHI_JB, B_R_BV, PHI_BV, Y_R, Y_PHI >::positionUpdate_

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