AnymalStateEstimator
The state estimator for anymal.
tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI > Class Template Reference

#include <OdomFrameCentricPoseUpdate.hpp>

Inheritance diagram for tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >:
Inheritance graph

Public Types

typedef OdomFrameCentricPoseUpdateBase< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI > Base
 
typedef Base::Output Output
 
typedef Base::Previous Previous
 
typedef Base::Current Current
 
typedef OdomFrameCentricPositionUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, Y_R > OdomFrameCentricPositionUpdateType
 
typedef OdomFrameCentricAttitudeUpdate< PHI_IB, PHI_IJ, PHI_BV, Y_PHI > OdomFrameCentricAttitudeUpdateType
 

Public Member Functions

 OdomFrameCentricPoseUpdate ()
 
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)
 
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

OdomFrameCentricPositionUpdateType positionUpdate_
 
OdomFrameCentricAttitudeUpdateType attitudeUpdate_
 

Member Typedef Documentation

template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef OdomFrameCentricPoseUpdateBase<I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI> tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::Base
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef Base::Current tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::Current
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef OdomFrameCentricAttitudeUpdate<PHI_IB, PHI_IJ, PHI_BV, Y_PHI> tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::OdomFrameCentricAttitudeUpdateType
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef OdomFrameCentricPositionUpdate<I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, Y_R> tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::OdomFrameCentricPositionUpdateType
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef Base::Output tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::Output
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
typedef Base::Previous tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::Previous

Constructor & Destructor Documentation

template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::OdomFrameCentricPoseUpdate ( )
inline

Member Function Documentation

template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
virtual void tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::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_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::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_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::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_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inline
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
int tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::LoadParameters ( const ros::NodeHandle &  handle,
const std::string &  id 
)
inline

Member Data Documentation

template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
OdomFrameCentricAttitudeUpdateType tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::attitudeUpdate_
template<int I_R_IB, int PHI_IB, int I_R_IJ, int PHI_IJ, int B_R_BV, int PHI_BV, int Y_R = 0, int Y_PHI = 1>
OdomFrameCentricPositionUpdateType tsif::OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV, Y_R, Y_PHI >::positionUpdate_

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