AnymalStateEstimator
The state estimator for anymal.
tsif::ImuKinAnymalOdometryTsifDefinition Struct Reference

#include <ImuKinAnymalOdometryTsifDefinition.hpp>

Public Types

enum  StateEnum : unsigned int {
  I_R_IB = 0, PHI_IB, B_V_IM, B_OMEGA_IB,
  I_P_RF, I_P_LF, I_P_LH, I_P_RH,
  B_B_F, B_B_OMEGA, NUM_STATES
}
 
enum  ParamEnum : int { B_R_BM = -1 }
 
enum  ResidualEnum : unsigned int {
  POS_PRD = 0, ATT_PRD, LVEL_PRD, AVEL_UPD,
  IBF_PRD, IBO_PRD, LMK_PRD_RF, LMK_PRD_LF,
  LMK_PRD_LH, LMK_PRD_RH, LMK_UPD_RF, LMK_UPD_LF,
  LMK_UPD_LH, LMK_UPD_RH
}
 
using FilterBase = Filter< PositionPrediction< I_R_IB, PHI_IB, B_V_IM, B_OMEGA_IB, B_R_BM >, AttitudePrediction< PHI_IB, B_OMEGA_IB >, LinearVelocityPrediction< PHI_IB, B_V_IM, B_OMEGA_IB, B_B_F >, AngularVelocityUpdate< B_OMEGA_IB, B_B_OMEGA >, RandomWalkPrediction< Element< Vec3, B_B_F >>, RandomWalkPrediction< Element< Vec3, B_B_OMEGA >>, TwoWeightRandomWalkPrediction< Element< Vec3, I_P_RF >>, TwoWeightRandomWalkPrediction< Element< Vec3, I_P_LF >>, TwoWeightRandomWalkPrediction< Element< Vec3, I_P_LH >>, TwoWeightRandomWalkPrediction< Element< Vec3, I_P_RH >>, LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P_RF >, LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P_LF >, LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P_LH >, LandmarkInOdomUpdate< I_R_IB, PHI_IB, I_P_RH >>
 

Public Member Functions

 ImuKinAnymalOdometryTsifDefinition ()=delete
 

Member Typedef Documentation

Member Enumeration Documentation

Enumerator
POS_PRD 
ATT_PRD 
LVEL_PRD 
AVEL_UPD 
IBF_PRD 
IBO_PRD 
LMK_PRD_RF 
LMK_PRD_LF 
LMK_PRD_LH 
LMK_PRD_RH 
LMK_UPD_RF 
LMK_UPD_LF 
LMK_UPD_LH 
LMK_UPD_RH 
Enumerator
I_R_IB 
PHI_IB 
B_V_IM 
B_OMEGA_IB 
I_P_RF 
I_P_LF 
I_P_LH 
I_P_RH 
B_B_F 
B_B_OMEGA 
NUM_STATES 

Constructor & Destructor Documentation

tsif::ImuKinAnymalOdometryTsifDefinition::ImuKinAnymalOdometryTsifDefinition ( )
delete

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