AnymalStateEstimator
The state estimator for anymal.
tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P > Class Template Reference

#include <LandMarkInOdomUpdate.hpp>

Inheritance diagram for tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >:
Inheritance graph

Public Types

using Base = LandmarkInOdomUpdateBase< 0, I_R_IB, PHI_IB, I_P >
 

Public Member Functions

 LandmarkInOdomUpdate ()
 
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)
 
int Extrapolate (const typename Current::CRef pre, typename Current::Ref ext, const double &delta_t)
 
virtual void AddNoise (typename Output::Ref out, MatRefX J_pre, MatRefX J_cur, const typename Previous::CRef pre, const typename Current::CRef cur)
 
int LoadParameters (const ros::NodeHandle &handle, const std::string &id)
 

Public Attributes

double huber_threshold_
 
double z_weight_factor_
 
bool print_diagnostics_
 

Protected Attributes

double max_norm_
 

Member Typedef Documentation

template<int I_R_IB, int PHI_IB, int I_P>
using tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::Base = LandmarkInOdomUpdateBase<0, I_R_IB, PHI_IB, I_P>

Constructor & Destructor Documentation

template<int I_R_IB, int PHI_IB, int I_P>
tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::LandmarkInOdomUpdate ( )
inline

Member Function Documentation

template<int I_R_IB, int PHI_IB, int I_P>
virtual void tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::AddNoise ( typename Output::Ref  out,
MatRefX  J_pre,
MatRefX  J_cur,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlinevirtual
template<int I_R_IB, int PHI_IB, int I_P>
int tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::EvalRes ( typename Output::Ref  out,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int I_R_IB, int PHI_IB, int I_P>
int tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::Extrapolate ( const typename Current::CRef  pre,
typename Current::Ref  ext,
const double &  delta_t 
)
inline
template<int I_R_IB, int PHI_IB, int I_P>
int tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int I_R_IB, int PHI_IB, int I_P>
int tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int I_R_IB, int PHI_IB, int I_P>
int tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::LoadParameters ( const ros::NodeHandle &  handle,
const std::string &  id 
)
inline

Member Data Documentation

template<int I_R_IB, int PHI_IB, int I_P>
double tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::huber_threshold_
template<int I_R_IB, int PHI_IB, int I_P>
double tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::max_norm_
protected
template<int I_R_IB, int PHI_IB, int I_P>
bool tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::print_diagnostics_
template<int I_R_IB, int PHI_IB, int I_P>
double tsif::LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P >::z_weight_factor_

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