#include <pose_sensormanager.h>

Inheritance diagram for msf_pose_sensor::PoseSensorManager:

Public Types
typedef msf_updates::EKFState	EKFState_T
typedef EKFState_T::StateSequence_T	StateSequence_T
typedef EKFState_T::StateDefinition_T	StateDefinition_T

Public Member Functions
	PoseSensorManager (ros::NodeHandle pnh=ros::NodeHandle("~/pose_sensor"))
virtual	~PoseSensorManager ()
virtual const Config_T &	getcfg ()
Public Member Functions inherited from msf_core::MSF_SensorManagerROS< msf_updates::EKFState >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	MSF_SensorManagerROS (ros::NodeHandle pnh=ros::NodeHandle("~core"))
virtual	~MSF_SensorManagerROS ()
virtual void	coreConfig (msf_core::MSF_CoreConfig &config, uint32_t level)
	Gets called by the internal callback caller.
void	Config (msf_core::MSF_CoreConfig &config, uint32_t level)
	Gets called by dynamic reconfigure and calls all registered callbacks in callbacks_.
void	setHLStateBuffer (const sensor_fusion_comm::ExtEkf &msg)
virtual bool	getParam_fixed_bias () const
virtual double	getParam_noise_acc () const
virtual double	getParam_noise_accbias () const
virtual double	getParam_noise_gyr () const
virtual double	getParam_noise_gyrbias () const
virtual double	getParam_fuzzythres () const
virtual void	publishStateInitial (const shared_ptr< msf_updates::EKFState > &state) const
virtual void	publishStateAfterPropagation (const shared_ptr< msf_updates::EKFState > &state) const
virtual void	publishStateAfterUpdate (const shared_ptr< msf_updates::EKFState > &state) const
Public Member Functions inherited from msf_core::MSF_SensorManager< msf_updates::EKFState >
	MSF_SensorManager ()
bool	data_playback ()
virtual	~MSF_SensorManager ()
void	addHandler (shared_ptr< SensorHandler< msf_updates::EKFState > > handler)
virtual void	init (double scale) const =0
virtual void	initState (msf_updates::EKFState &state) const =0
virtual void	calculateQAuxiliaryStates (msf_updates::EKFState &UNUSEDPARAM(state), double UNUSEDPARAM(dt)) const =0
virtual void	setP (Eigen::Matrix< double, msf_updates::EKFState::nErrorStatesAtCompileTime, msf_updates::EKFState::nErrorStatesAtCompileTime > &P) const =0
virtual void	augmentCorrectionVector (Eigen::Matrix< double, msf_updates::EKFState::nErrorStatesAtCompileTime, 1 > &UNUSEDPARAM(correction)) const =0
virtual void	sanityCheckCorrection (msf_updates::EKFState &UNUSEDPARAM(delaystate), const msf_updates::EKFState &UNUSEDPARAM(buffstate), Eigen::Matrix< double, msf_updates::EKFState::nErrorStatesAtCompileTime, 1 > &UNUSEDPARAM(correction)) const =0
Public Member Functions inherited from msf_core::StateVisitor< msf_updates::EKFState >
virtual void	resetState (msf_updates::EKFState &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 ()

Private Types
typedef PoseSensorHandler < msf_updates::pose_measurement::PoseMeasurement, PoseSensorManager >	PoseSensorHandler_T

Private Member Functions
virtual void	config (Config_T &config, uint32_t level)
	Dynamic reconfigure callback.
void	init (double scale) const
virtual void	resetState (EKFState_T &state) const
virtual void	initState (EKFState_T &state) const
virtual void	calculateQAuxiliaryStates (EKFState_T &state, double dt) const
virtual void	setP (Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, EKFState_T::nErrorStatesAtCompileTime > &P) const
virtual void	augmentCorrectionVector (Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &correction) const
virtual void	sanityCheckCorrection (EKFState_T &delaystate, const EKFState_T &buffstate, Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &correction) const

Private Attributes
shared_ptr < msf_core::IMUHandler_ROS < msf_updates::EKFState > >	imu_handler_
shared_ptr< PoseSensorHandler_T >	pose_handler_
Config_T	config_
ReconfigureServerPtr	reconf_server_

Friends
class	PoseSensorHandler< msf_updates::pose_measurement::PoseMeasurement, PoseSensorManager >

Additional Inherited Members
Public Attributes inherited from msf_core::MSF_SensorManager< msf_updates::EKFState >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW shared_ptr< MSF_Core < msf_updates::EKFState > >	msf_core_
	The ekf core instance.
Protected Types inherited from msf_core::MSF_SensorManager< msf_updates::EKFState >
typedef std::vector < shared_ptr< SensorHandler < msf_updates::EKFState > > >	Handlers
Protected Attributes inherited from msf_core::MSF_SensorManagerROS< msf_updates::EKFState >
msf_core::MSF_CoreConfig	config_
	Dynamic reconfigure config.

Member Typedef Documentation

typedef msf_updates::EKFState msf_pose_sensor::PoseSensorManager::EKFState_T

typedef PoseSensorHandler<msf_updates::pose_measurement::PoseMeasurement, PoseSensorManager> msf_pose_sensor::PoseSensorManager::PoseSensorHandler_T

private

typedef EKFState_T::StateDefinition_T msf_pose_sensor::PoseSensorManager::StateDefinition_T

typedef EKFState_T::StateSequence_T msf_pose_sensor::PoseSensorManager::StateSequence_T

Constructor & Destructor Documentation

msf_pose_sensor::PoseSensorManager::PoseSensorManager ( ros::NodeHandle pnh = ros::NodeHandle("~/pose_sensor") )

inline

< Distort the pose measurements.

virtual msf_pose_sensor::PoseSensorManager::~PoseSensorManager ( )

inlinevirtual

Member Function Documentation

virtual void msf_pose_sensor::PoseSensorManager::augmentCorrectionVector ( Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > & correction ) const

inlineprivatevirtual

virtual void msf_pose_sensor::PoseSensorManager::calculateQAuxiliaryStates	(	EKFState_T &	state,
		double	dt
	)		const

inlineprivatevirtual

virtual void msf_pose_sensor::PoseSensorManager::config	(	Config_T &	config,
		uint32_t	level
	)

inlineprivatevirtual

virtual const Config_T& msf_pose_sensor::PoseSensorManager::getcfg ( )

inlinevirtual

void msf_pose_sensor::PoseSensorManager::init ( double scale ) const

inlineprivate

Gravity.

Bias gyroscopes.

Bias accelerometer.

Robot velocity (IMU centered).

Initial angular velocity.

Initial acceleration.

virtual void msf_pose_sensor::PoseSensorManager::initState ( EKFState_T & state ) const

inlineprivatevirtual

virtual void msf_pose_sensor::PoseSensorManager::resetState ( EKFState_T & state ) const

inlineprivatevirtual

virtual void msf_pose_sensor::PoseSensorManager::sanityCheckCorrection	(	EKFState_T &	delaystate,
		const EKFState_T &	buffstate,
		Eigen::Matrix< double, EKFState_T::nErrorStatesAtCompileTime, 1 > &	correction
	)		const

inlineprivatevirtual

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

inlineprivatevirtual

Friends And Related Function Documentation

friend class PoseSensorHandler< msf_updates::pose_measurement::PoseMeasurement,PoseSensorManager >

friend

Member Data Documentation

Config_T msf_pose_sensor::PoseSensorManager::config_

private

shared_ptr<msf_core::IMUHandler_ROS<msf_updates::EKFState> > msf_pose_sensor::PoseSensorManager::imu_handler_

private

shared_ptr<PoseSensorHandler_T> msf_pose_sensor::PoseSensorManager::pose_handler_

private

ReconfigureServerPtr msf_pose_sensor::PoseSensorManager::reconf_server_

private

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

msf_updates/src/pose_msf/pose_sensormanager.h

Public Types

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation