AnymalStateEstimator
The state estimator for anymal.
tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y > Class Template Reference

#include <ExtFrameCentricPositionUpdate.hpp>

Inheritance diagram for tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >:
Inheritance graph

Public Types

typedef ExtFrameCentricPositionUpdateBase< J_R_JB, PHI_JB, B_R_BV, Y > Base
 
typedef Base::Output Output
 
typedef Base::Previous Previous
 
typedef Base::Current Current
 

Public Member Functions

 ExtFrameCentricPositionUpdate ()
 
 ~ExtFrameCentricPositionUpdate () 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

◆ Base

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
typedef ExtFrameCentricPositionUpdateBase<J_R_JB,PHI_JB,B_R_BV,Y> tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::Base

◆ Current

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
typedef Base::Current tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::Current

◆ Output

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
typedef Base::Output tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::Output

◆ Previous

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
typedef Base::Previous tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::Previous

Constructor & Destructor Documentation

◆ ExtFrameCentricPositionUpdate()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::ExtFrameCentricPositionUpdate ( )
inline

◆ ~ExtFrameCentricPositionUpdate()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::~ExtFrameCentricPositionUpdate ( )
overridedefault

Member Function Documentation

◆ AddNoise()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
virtual void tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::AddNoise ( typename Output::Ref  out,
MatRefX  J_pre,
MatRefX  J_cur,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverridevirtual

◆ EvalRes()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
int tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::EvalRes ( typename Output::Ref  out,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ Extrapolate()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
int tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::Extrapolate ( const typename Current::CRef  pre,
typename Current::Ref  ext,
const double &  delta_t 
)
inline

◆ JacCur()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
int tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ JacPre()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
int tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ LoadParameters()

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
int tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::LoadParameters ( const ros::NodeHandle &  handle,
const std::string &  id 
)
inline

Member Data Documentation

◆ huber_threshold_

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
double tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::huber_threshold_ {std::numeric_limits<double>::max()}
protected

◆ max_norm_

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
double tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::max_norm_ {0.}
protected

◆ print_diagnostics_

template<int J_R_JB, int PHI_JB, int B_R_BV, int Y = 0>
bool tsif::ExtFrameCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV, Y >::print_diagnostics_ {false}
protected

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