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

#include <MapCentricPositionUpdate.hpp>

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

Public Types

using Base = MapCentricPositionUpdateBase< 0, J_R_JB, PHI_JB, B_R_BV >
 
using Output = typename Base::Output
 
using Previous = typename Base::Previous
 
using Current = typename Base::Current
 

Public Member Functions

 MapCentricPositionUpdate ()
 
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)
 
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

double huber_threshold_
 
bool print_diagnostics_
 

Protected Attributes

double max_norm_
 

Member Typedef Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV>
using tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::Base = MapCentricPositionUpdateBase<0, J_R_JB, PHI_JB, B_R_BV>
template<int J_R_JB, int PHI_JB, int B_R_BV>
using tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::Current = typename Base::Current
template<int J_R_JB, int PHI_JB, int B_R_BV>
using tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::Output = typename Base::Output
template<int J_R_JB, int PHI_JB, int B_R_BV>
using tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::Previous = typename Base::Previous

Constructor & Destructor Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV>
tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::MapCentricPositionUpdate ( )
inline

Member Function Documentation

template<int J_R_JB, int PHI_JB, int B_R_BV>
virtual void tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::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 tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::EvalRes ( typename Output::Ref  out,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride
template<int J_R_JB, int PHI_JB, int B_R_BV>
int tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::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 tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride
template<int J_R_JB, int PHI_JB, int B_R_BV>
int tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride
template<int J_R_JB, int PHI_JB, int B_R_BV>
int tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::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>
double tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::huber_threshold_
template<int J_R_JB, int PHI_JB, int B_R_BV>
double tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::max_norm_
protected
template<int J_R_JB, int PHI_JB, int B_R_BV>
bool tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::print_diagnostics_

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