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

#include <MapLocalizationTsifDefinition.hpp>

Public Types

enum  StateEnum : unsigned int {
  I_R_IB = 0, PHI_IB, I_R_IJ, PHI_IJ,
  NUM_STATES
}
 
enum  ParamEnum : int { B_R_BV = -4, PHI_BV, R_NULL, PHI_NULL }
 
enum  ResidualEnum : unsigned int { BASE_POSE_UPD, MAP_POSE_UPD, BASE_POSE_PRD, MAP_POSE_PRD }
 
using FilterBase = Filter< ExtFrameCentricPoseUpdate< I_R_IB, PHI_IB, R_NULL, PHI_NULL >, OdomFrameCentricPoseUpdate< I_R_IB, PHI_IB, I_R_IJ, PHI_IJ, B_R_BV, PHI_BV >, RandomWalkPrediction< Element< Vec3, I_R_IB >, Element< Quat, PHI_IB >>, RandomWalkPrediction< Element< Vec3, I_R_IJ >, Element< Quat, PHI_IJ >>>
 

Public Member Functions

 MapLocalizationTsifDefinition ()=delete
 

Member Typedef Documentation

Member Enumeration Documentation

Enumerator
B_R_BV 
PHI_BV 
R_NULL 
PHI_NULL 
Enumerator
BASE_POSE_UPD 
MAP_POSE_UPD 
BASE_POSE_PRD 
MAP_POSE_PRD 
Enumerator
I_R_IB 
PHI_IB 
I_R_IJ 
PHI_IJ 
NUM_STATES 

Constructor & Destructor Documentation

tsif::MapLocalizationTsifDefinition::MapLocalizationTsifDefinition ( )
delete

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