AnymalStateEstimator
The state estimator for anymal.
tsif::MapLocalizationTsif Class Reference

#include <MapLocalizationTsif.hpp>

Inheritance diagram for tsif::MapLocalizationTsif:
Inheritance graph

Public Types

using Base = FilterWithDefinition< MapLocalizationTsifDefinition >
 

Public Member Functions

 MapLocalizationTsif (const ros::NodeHandle &node_handle)
 
 ~MapLocalizationTsif () override=default
 
void Init (TimePoint t) override
 
TimePoint GetLastIcpStamp () const
 
void SetInitOdomPose (const kindr::HomTransformQuatD &T_IB_init)
 
void SetInitIcpPose (const kindr::HomTransformQuatD &T_JV_init)
 
void SetPoseMeasurementFrameOffset (const kindr::HomTransformQuatD &T_BV)
 
void AddMeasurementPoseBaseToWorld (const tsif::TimePoint &time, const Vec3 &I_r_IB, const Quat &q_IB)
 
void AddMeasurementPoseMeasurementFrameToMap (const tsif::TimePoint &time, const Vec3 &J_r_JV, const Quat &q_JV)
 
tsif::Quat GetOrientationBaseToMap ()
 
tsif::Vec3 GetPositionMapToBaseInMap ()
 
tsif::Quat GetOrientationMapToWorld ()
 
tsif::Vec3 GetPositionWorldToMapInWorld ()
 

Protected Attributes

std::array< Vec3, FD::StateEnum::NUM_STATES > I_diag_init_
 
kindr::HomTransformQuatD T_IB_init_
 
kindr::HomTransformQuatD T_JV_init_
 
kindr::HomTransformQuatD T_BV_
 

Member Typedef Documentation

Constructor & Destructor Documentation

tsif::MapLocalizationTsif::MapLocalizationTsif ( const ros::NodeHandle &  node_handle)
inlineexplicit
tsif::MapLocalizationTsif::~MapLocalizationTsif ( )
overridedefault

Member Function Documentation

void tsif::MapLocalizationTsif::AddMeasurementPoseBaseToWorld ( const tsif::TimePoint &  time,
const Vec3 &  I_r_IB,
const Quat &  q_IB 
)
inline
void tsif::MapLocalizationTsif::AddMeasurementPoseMeasurementFrameToMap ( const tsif::TimePoint &  time,
const Vec3 &  J_r_JV,
const Quat &  q_JV 
)
inline
TimePoint tsif::MapLocalizationTsif::GetLastIcpStamp ( ) const
inline
tsif::Quat tsif::MapLocalizationTsif::GetOrientationBaseToMap ( )
inline
tsif::Quat tsif::MapLocalizationTsif::GetOrientationMapToWorld ( )
inline
tsif::Vec3 tsif::MapLocalizationTsif::GetPositionMapToBaseInMap ( )
inline
tsif::Vec3 tsif::MapLocalizationTsif::GetPositionWorldToMapInWorld ( )
inline
void tsif::MapLocalizationTsif::Init ( TimePoint  t)
inlineoverride
void tsif::MapLocalizationTsif::SetInitIcpPose ( const kindr::HomTransformQuatD &  T_JV_init)
inline
void tsif::MapLocalizationTsif::SetInitOdomPose ( const kindr::HomTransformQuatD &  T_IB_init)
inline
void tsif::MapLocalizationTsif::SetPoseMeasurementFrameOffset ( const kindr::HomTransformQuatD &  T_BV)
inline

Member Data Documentation

std::array<Vec3,FD::StateEnum::NUM_STATES> tsif::MapLocalizationTsif::I_diag_init_
protected
kindr::HomTransformQuatD tsif::MapLocalizationTsif::T_BV_
protected
kindr::HomTransformQuatD tsif::MapLocalizationTsif::T_IB_init_
protected
kindr::HomTransformQuatD tsif::MapLocalizationTsif::T_JV_init_
protected

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