The base class for all measurement types. These are the objects provided to the EKF core to be applied in correct order to the states.

Inheritance diagram for msf_core::MSF_MeasurementBase< EKFState_T >:

Public Member Functions
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
int	sensorID_
bool	isabsolute_
double	time
	The time_ this measurement was taken.

Protected Member Functions
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)

Constructor & Destructor Documentation

template<typename EKFState_T >

msf_core::MSF_MeasurementBase< EKFState_T >::MSF_MeasurementBase	(	bool	isabsoluteMeasurement,
		int	sensorID
	)

template<typename EKFState_T>

virtual msf_core::MSF_MeasurementBase< EKFState_T >::~MSF_MeasurementBase ( )

inlinevirtual

Member Function Documentation

template<typename EKFState_T>

virtual void msf_core::MSF_MeasurementBase< EKFState_T >::apply	(	shared_ptr< EKFState_T >	stateWithCovariance,
		MSF_Core< EKFState_T > &	core
	)

pure virtual

template<typename EKFState_T >

template<class H_type , class Res_type , class R_type >

void msf_core::MSF_MeasurementBase< EKFState_T >::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
	)

protected

Main update routine called by a given sensor, will apply the measurement to the state inside the core.

Correction from EKF update.

template<typename EKFState_T >

void msf_core::MSF_MeasurementBase< EKFState_T >::calculateAndApplyCorrection	(	shared_ptr< EKFState_T >	state,
		MSF_Core< EKFState_T > &	core,
		const Eigen::MatrixXd &	H,
		const Eigen::MatrixXd &	residual,
		const Eigen::MatrixXd &	R
	)

protected

Correction from EKF update.

template<typename EKFState_T >

template<class H_type , class Res_type , class R_type >

void msf_core::MSF_MeasurementBase< EKFState_T >::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
	)