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 ()
 
 ~MapCentricPositionUpdate () 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>
using tsif::MapCentricPositionUpdate< J_R_JB, PHI_JB, B_R_BV >::Base = MapCentricPositionUpdateBase<0, J_R_JB, PHI_JB, B_R_BV>

◆ Current

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

◆ Output

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

◆ Previous

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

◆ MapCentricPositionUpdate()

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

◆ ~MapCentricPositionUpdate()

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

Member Function Documentation

◆ AddNoise()

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 
)
inlineoverridevirtual

◆ EvalRes()

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

◆ Extrapolate()

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

◆ JacCur()

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

◆ JacPre()

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

◆ LoadParameters()

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

◆ 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 >::huber_threshold_ {std::numeric_limits<double>::max()}
protected

◆ max_norm_

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_ {0.}
protected

◆ print_diagnostics_

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_ {false}
protected

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