msf_spherical_position::SensorManager Class Reference

#include <spherical_sensormanager.h>

Inheritance diagram for msf_spherical_position::SensorManager:

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
	SensorManager (ros::NodeHandle pnh=ros::NodeHandle("~/spherical_position_sensor"))
virtual	~SensorManager ()
virtual const Config_T &	getcfg () const
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 AngleSensorHandler < AngleMeasurement, SensorManager >	AngleSensorHandler_T
typedef DistanceSensorHandler < DistanceMeasurement, SensorManager >	DistanceSensorHandler_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
boost::shared_ptr < AngleSensorHandler_T >	angle_handler_
boost::shared_ptr < DistanceSensorHandler_T >	distance_handler_
Config_T	config_
ReconfigureServerPtr	reconf_server_

Friends
class	AngleSensorHandler< AngleMeasurement, SensorManager >
class	DistanceSensorHandler< DistanceMeasurement, SensorManager >

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 AngleSensorHandler<AngleMeasurement, SensorManager> msf_spherical_position::SensorManager::AngleSensorHandler_T

private

typedef DistanceSensorHandler<DistanceMeasurement, SensorManager> msf_spherical_position::SensorManager::DistanceSensorHandler_T

private

typedef msf_updates::EKFState msf_spherical_position::SensorManager::EKFState_T

typedef EKFState_T::StateDefinition_T msf_spherical_position::SensorManager::StateDefinition_T

typedef EKFState_T::StateSequence_T msf_spherical_position::SensorManager::StateSequence_T

Constructor & Destructor Documentation

msf_spherical_position::SensorManager::SensorManager ( ros::NodeHandle  pnh = ros::NodeHandle("~/spherical_position_sensor") )

inline

virtual msf_spherical_position::SensorManager::~SensorManager ( )

inlinevirtual

Member Function Documentation

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

inlineprivatevirtual

virtual void msf_spherical_position::SensorManager::calculateQAuxiliaryStates ( EKFState_T &  state, double  dt  ) const

inlineprivatevirtual

virtual void msf_spherical_position::SensorManager::config ( Config_T &  config, uint32_t  level  )

inlineprivatevirtual

virtual const Config_T& msf_spherical_position::SensorManager::getcfg ( ) const

inlinevirtual

void msf_spherical_position::SensorManager::init ( double  scale ) const

inlineprivate

Gravity.

Bias gyroscopes.

Bias accelerometer.

Robot velocity (IMU centered).

Initial angular velocity.

Initial acceleration.

virtual void msf_spherical_position::SensorManager::initState ( EKFState_T &  state ) const

inlineprivatevirtual

virtual void msf_spherical_position::SensorManager::resetState ( EKFState_T &  state ) const

inlineprivatevirtual

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

inlineprivatevirtual

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

inlineprivatevirtual

Friends And Related Function Documentation

friend class AngleSensorHandler< AngleMeasurement, SensorManager >

friend

friend class DistanceSensorHandler< DistanceMeasurement, SensorManager >

friend

Member Data Documentation

boost::shared_ptr<AngleSensorHandler_T> msf_spherical_position::SensorManager::angle_handler_

private

Config_T msf_spherical_position::SensorManager::config_

private

boost::shared_ptr<DistanceSensorHandler_T> msf_spherical_position::SensorManager::distance_handler_

private

ReconfigureServerPtr msf_spherical_position::SensorManager::reconf_server_

private

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

• msf_updates/src/spherical_msf/spherical_sensormanager.h