AnymalStateEstimator
The state estimator for anymal.
tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F > Class Template Reference

#include <LinearVelocityPrediction.hpp>

Inheritance diagram for tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >:
Inheritance graph

Public Types

using Base = LinearVelocityPredictionBase< 0, PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >
 
using Previous = typename Base::Previous
 
using Current = typename Base::Current
 
using Output = typename Base::Output
 

Public Member Functions

 LinearVelocityPrediction ()
 
 ~LinearVelocityPrediction () override=default
 
int Extrapolate (const typename Previous::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) override
 
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 PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
using tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::Base = LinearVelocityPredictionBase<0, PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F>

◆ Current

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
using tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::Current = typename Base::Current

◆ Output

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
using tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::Output = typename Base::Output

◆ Previous

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
using tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::Previous = typename Base::Previous

Constructor & Destructor Documentation

◆ LinearVelocityPrediction()

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::LinearVelocityPrediction ( )
inline

◆ ~LinearVelocityPrediction()

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::~LinearVelocityPrediction ( )
overridedefault

Member Function Documentation

◆ AddNoise()

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
virtual void tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::AddNoise ( typename Output::Ref  out,
MatRefX  J_pre,
MatRefX  J_cur,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverridevirtual

◆ Extrapolate()

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
int tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::Extrapolate ( const typename Previous::CRef  pre,
typename Current::Ref  ext,
const double &  delta_t 
)
inline

◆ LoadParameters()

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
int tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::LoadParameters ( const ros::NodeHandle &  handle,
const std::string &  id 
)
inline

Member Data Documentation

◆ huber_threshold_

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
double tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::huber_threshold_ {std::numeric_limits<double>::max()}
protected

◆ max_norm_

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
double tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::max_norm_ {0.}
protected

◆ print_diagnostics_

template<int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_B_F>
bool tsif::LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >::print_diagnostics_ {false}
protected

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