A measurement to be send to initialize parts of or the full EKF state this can especially be used to split the initialization of the EKF between multiple sensors which init different parts of the state.

#include <msf_measurement.h>

Inheritance diagram for msf_core::MSF_InitMeasurement< EKFState_T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MSF_InitMeasurement (bool ContainsInitialSensorReadings)
virtual	~MSF_InitMeasurement ()
virtual std::string	type ()
EKFState_T::P_type &	get_P ()
Eigen::Matrix< double, 3, 1 > &	get_w_m ()
	Get the gyro measurement.
Eigen::Matrix< double, 3, 1 > &	get_a_m ()
	Get the acceleration measurment.
template<int INDEX, typename T >
void	setStateInitValue (const T &initvalue)
	Set the flag that the state variable at index INDEX has init values for the state.
template<int INDEX>
void	resetStateInitValue ()
	Reset the flag that the state variable at index INDEX has init values for the state.
template<int INDEX>
const msf_tmp::StripReference < typename boost::fusion::result_of::at_c < StateSequence_T, INDEX > ::type >::result_t::value_t &	getStateInitValue () const
	Get the value stored in this object to initialize a state variable at index INDEX.
virtual void	apply (shared_ptr< EKFState_T > stateWithCovariance, MSF_Core< EKFState_T > &core)
	The method called by the msf_core to apply the measurement represented by this object.
Public Member Functions inherited from msf_core::MSF_MeasurementBase< EKFState_T >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MSF_MeasurementBase (bool isabsoluteMeasurement, int sensorID)
virtual	~MSF_MeasurementBase ()

Private Types
typedef EKFState_T::StateSequence_T	StateSequence_T

Private Attributes
EKFState_T	InitState
bool	ContainsInitialSensorReadings_
	Flag whether this measurement contains initial sensor readings.

Additional Inherited Members
Public Attributes inherited from msf_core::MSF_MeasurementBase< EKFState_T >
int	sensorID_
bool	isabsolute_
double	time
	The time_ this measurement was taken.
Protected Member Functions inherited from msf_core::MSF_MeasurementBase< EKFState_T >
template<class H_type , class Res_type , class R_type >
void	calculateAndApplyCorrection (shared_ptr< EKFState_T > state, MSF_Core< EKFState_T > &core, const Eigen::MatrixBase< H_type > &H, const Eigen::MatrixBase< Res_type > &residual, const Eigen::MatrixBase< R_type > &R)
void	calculateAndApplyCorrection (shared_ptr< EKFState_T > state, MSF_Core< EKFState_T > &core, const Eigen::MatrixXd &H, const Eigen::MatrixXd &residual, const Eigen::MatrixXd &R)
template<class H_type , class Res_type , class R_type >
void	calculateAndApplyCorrectionRelative (shared_ptr< EKFState_T > state_old, shared_ptr< EKFState_T > state_new, MSF_Core< EKFState_T > &core, const Eigen::MatrixBase< H_type > &H_old, const Eigen::MatrixBase< H_type > &H_new, const Eigen::MatrixBase< Res_type > &residual, const Eigen::MatrixBase< R_type > &R)