msf_core::MSF_Measurement< T, RMAT_T, EKFState_T > Class Template Reference

The class for sensor based measurements which we want to apply to a state in the update routine of the EKF. This calls the apply correction method of the EKF core. More...

#include <msf_measurement.h>

Inheritance diagram for msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >:

Public Types
typedef T	Measurement_type
typedef boost::shared_ptr< T const >	Measurement_ptr

Public Member Functions
	MSF_Measurement (bool isAbsoluteMeasurement, int sensorID)
virtual	~MSF_Measurement ()
void	makeFromSensorReading (const boost::shared_ptr< T const > reading, double timestamp)
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 ()
virtual void	apply (shared_ptr< EKFState_T > stateWithCovariance, MSF_Core< EKFState_T > &core)=0
	The method called by the msf_core to apply the measurement represented by this object.
virtual std::string	type ()=0

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Public Attributes inherited from msf_core::MSF_MeasurementBase< EKFState_T >
int	sensorID_
bool	isabsolute_
double	time
	The time_ this measurement was taken.

Protected Attributes
RMAT_T	R_

Private Member Functions
virtual void	makeFromSensorReadingImpl (const boost::shared_ptr< T const > reading)=0

Additional Inherited Members
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)

Detailed Description

template<typename T, typename RMAT_T, typename EKFState_T>
class msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >

Note

Provides an abstract NVI to create measurements from sensor readings.

Member Typedef Documentation

template<typename T , typename RMAT_T , typename EKFState_T >

typedef boost::shared_ptr<T const> msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::Measurement_ptr

template<typename T , typename RMAT_T , typename EKFState_T >

typedef T msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::Measurement_type

Constructor & Destructor Documentation

template<typename T , typename RMAT_T , typename EKFState_T >

msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::MSF_Measurement ( bool  isAbsoluteMeasurement, int  sensorID  )

inline

template<typename T , typename RMAT_T , typename EKFState_T >

virtual msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::~MSF_Measurement ( )

inlinevirtual

Member Function Documentation

template<typename T , typename RMAT_T , typename EKFState_T >

void msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::makeFromSensorReading ( const boost::shared_ptr< T const >  reading, double  timestamp  )

inline

template<typename T , typename RMAT_T , typename EKFState_T >

virtual void msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::makeFromSensorReadingImpl ( const boost::shared_ptr< T const >  reading )

privatepure virtual

Member Data Documentation

template<typename T , typename RMAT_T , typename EKFState_T >

msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

template<typename T , typename RMAT_T , typename EKFState_T >

RMAT_T msf_core::MSF_Measurement< T, RMAT_T, EKFState_T >::R_

protected

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

• msf_core/include/msf_core/msf_measurement.h