A manager for a given sensor set. Handlers for individual sensors (camera/vicon etc.) are registered with this class as handlers of particular sensors. This class also owns the EKF core instance and handles the initialization of the filter.

#include <msf_sensormanager.h>

Inheritance diagram for msf_core::MSF_SensorManager< EKFState_T >:

Public Member Functions
	MSF_SensorManager ()
bool	data_playback ()
virtual	~MSF_SensorManager ()
void	addHandler (shared_ptr< SensorHandler< EKFState_T > > handler)
virtual void	init (double scale) const =0
virtual void	initState (EKFState_T &state) const =0
virtual void	calculateQAuxiliaryStates (EKFState_T &UNUSEDPARAM(state), double UNUSEDPARAM(dt)) const =0
virtual void	setP (Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, EKFState_T::nErrorStatesAtCompileTime > &P) const =0
virtual void	augmentCorrectionVector (Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &UNUSEDPARAM(correction)) const =0
virtual void	sanityCheckCorrection (EKFState_T &UNUSEDPARAM(delaystate), const EKFState_T &UNUSEDPARAM(buffstate), Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &UNUSEDPARAM(correction)) const =0
virtual bool	getParam_fixed_bias () const =0
virtual double	getParam_noise_acc () const =0
virtual double	getParam_noise_accbias () const =0
virtual double	getParam_noise_gyr () const =0
virtual double	getParam_noise_gyrbias () const =0
virtual double	getParam_fuzzythres () const =0
virtual void	publishStateInitial (const shared_ptr< EKFState_T > &state) const =0
virtual void	publishStateAfterPropagation (const shared_ptr< EKFState_T > &state) const =0
virtual void	publishStateAfterUpdate (const shared_ptr< EKFState_T > &state) const =0
Public Member Functions inherited from msf_core::StateVisitor< EKFState_T >
virtual void	resetState (EKFState_T &state) const =0
	The state is set to zero/identity, this method will be called to give the user the possibility to change the reset values of some states.
virtual	~StateVisitor ()

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW shared_ptr< MSF_Core < EKFState_T > >	msf_core_
	The ekf core instance.

Protected Types
typedef std::vector < shared_ptr< SensorHandler < EKFState_T > > >	Handlers

Protected Attributes
Handlers	handlers
	A list of sensor handlers which provide measurements.
bool	data_playback_

Private Attributes
int	sensorID_

Member Typedef Documentation

template<typename EKFState_T>

typedef std::vector<shared_ptr<SensorHandler<EKFState_T> > > msf_core::MSF_SensorManager< EKFState_T >::Handlers

protected

Constructor & Destructor Documentation

template<typename EKFState_T >

msf_core::MSF_SensorManager< EKFState_T >::MSF_SensorManager ( )

template<typename EKFState_T>

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

inlinevirtual

Member Function Documentation

template<typename EKFState_T>

void msf_core::MSF_SensorManager< EKFState_T >::addHandler ( shared_ptr< SensorHandler< EKFState_T > > handler )

inline

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::augmentCorrectionVector ( Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > & UNUSEDPARAMcorrection ) const

pure virtual

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::calculateQAuxiliaryStates	(	EKFState_T &	UNUSEDPARAMstate,
		double	UNUSEDPARAMdt
	)		const

pure virtual

template<typename EKFState_T>

bool msf_core::MSF_SensorManager< EKFState_T >::data_playback ( )

inline

template<typename EKFState_T>

virtual bool msf_core::MSF_SensorManager< EKFState_T >::getParam_fixed_bias ( ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManager< EKFState_T >::getParam_fuzzythres ( ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManager< EKFState_T >::getParam_noise_acc ( ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManager< EKFState_T >::getParam_noise_accbias ( ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManager< EKFState_T >::getParam_noise_gyr ( ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual double msf_core::MSF_SensorManager< EKFState_T >::getParam_noise_gyrbias ( ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::init ( double scale ) const

pure virtual

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::initState ( EKFState_T & state ) const

pure virtual

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::publishStateAfterPropagation ( const shared_ptr< EKFState_T > & state ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::publishStateAfterUpdate ( const shared_ptr< EKFState_T > & state ) const

pure virtual

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::publishStateInitial ( const shared_ptr< EKFState_T > & state ) const

pure virtual

This functions get called by the core to publish data to external middlewares like ROS.

Implemented in msf_core::MSF_SensorManagerROS< EKFState_T >, and msf_core::MSF_SensorManagerROS< msf_updates::EKFState >.

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::sanityCheckCorrection	(	EKFState_T &	UNUSEDPARAMdelaystate,
		const EKFState_T &	UNUSEDPARAMbuffstate,
		Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &	UNUSEDPARAMcorrection
	)		const

pure virtual

template<typename EKFState_T>

virtual void msf_core::MSF_SensorManager< EKFState_T >::setP ( Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, EKFState_T::nErrorStatesAtCompileTime > & P ) const

pure virtual

Member Data Documentation

template<typename EKFState_T>

bool msf_core::MSF_SensorManager< EKFState_T >::data_playback_

protected

Used to determine if internal states get overwritten by the external state prediction (online) or internal state prediction is performed for log replay, when the external prediction is not available or should be done on the host.

template<typename EKFState_T>

Handlers msf_core::MSF_SensorManager< EKFState_T >::handlers

protected

template<typename EKFState_T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW shared_ptr<MSF_Core<EKFState_T> > msf_core::MSF_SensorManager< EKFState_T >::msf_core_

template<typename EKFState_T>

int msf_core::MSF_SensorManager< EKFState_T >::sensorID_

private

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

msf_core/include/msf_core/msf_sensormanager.h
msf_core/include/msf_core/implementation/msf_sensormanager.hpp

Public Member Functions

Public Attributes

Protected Types

Protected Attributes

Private Attributes

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation