AnymalStateEstimator
The state estimator for anymal.
tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM > Class Template Reference

#include <PositionPrediction.hpp>

Inheritance diagram for tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >:
Inheritance graph

Public Types

using Base = PositionPredictionBase< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >
 
using Output = typename Base::Output
 
using Previous = typename Base::Previous
 
using Current = typename Base::Current
 

Public Member Functions

 PositionPrediction ()
 
 ~PositionPrediction () 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
 
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 Previous::CRef pre, typename Current::Ref ext, const double &delta_t)
 
int LoadParameters (const ros::NodeHandle &handle, const std::string &id)
 

Member Typedef Documentation

◆ Base

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
using tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::Base = PositionPredictionBase<I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM>

◆ Current

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
using tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::Current = typename Base::Current

◆ Output

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
using tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::Output = typename Base::Output

◆ Previous

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
using tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::Previous = typename Base::Previous

Constructor & Destructor Documentation

◆ PositionPrediction()

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::PositionPrediction ( )
inline

◆ ~PositionPrediction()

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::~PositionPrediction ( )
overridedefault

Member Function Documentation

◆ AddNoise()

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
void tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::AddNoise ( typename Output::Ref  out,
MatRefX  J_pre,
MatRefX  J_cur,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ EvalRes()

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
int tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::EvalRes ( typename Output::Ref  out,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ Extrapolate()

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

◆ JacCur()

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
int tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::JacCur ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ JacPre()

template<int I_R_IB, int PHI_IB, int B_V_IM, int B_OMEGA_IB, int B_R_BM>
int tsif::PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >::JacPre ( MatRefX  J,
const typename Previous::CRef  pre,
const typename Current::CRef  cur 
)
inlineoverride

◆ LoadParameters()

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

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