Namespaces
namespace	similarity_transform

Classes
class	GPSConversion
class	CheckFuzzyTracking
class	CheckFuzzyTracking< EKFState_T, mpl_::void_ >
class	MSF_Core
	The core class of the EKF Does propagation of state and covariance but also applying measurements and managing states and measurements in lists sorted by time stamp. More...
class	IMUHandler
class	IMUHandler_ROS
class	MSF_MeasurementBase
	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. More...
class	MSF_InvalidMeasurement
	An invalid measurement needed for the measurement container to report if something went wrong. More...
class	MSF_Measurement
	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...
class	MSF_InitMeasurement
	A measurement to be send to initialize parts of or the full EKF state this can especially be used to split the initialization of the EKF between multiple sensors which init different parts of the state. More...
class	sortMeasurements
	A comparator to sort measurements by time. More...
class	SensorHandler
	Handles a sensor driver which provides the sensor readings. More...
class	MSF_SensorManager
	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. More...
class	MSF_SensorManagerROS
	Abstract class defining user configurable calculations for the msf_core with ROS interfaces. More...
class	SortedContainer
	Manages a sorted container with strict less than ordering used to store state and measurement objects which can then be queried for closest states/measurements to a given time instant. More...
struct	StateVar_T
	A state variable with a name as specified in the state name enum. More...
struct	GenericState_T
	The state vector containing all the state variables for this EKF configuration. More...
class	sortStates
	Comparator for the state objects. sorts by time asc. More...
class	StateVisitor
	Visitor pattern to allow the user to set state init values. More...

Typedefs
typedef dynamic_reconfigure::Server < msf_core::MSF_CoreConfig >	ReconfigureServer
typedef Eigen::Quaternion< double >	Quaternion

Enumerations
enum	{ CoreStateWithPropagation, CoreStateWithoutPropagation, Auxiliary, AuxiliaryNonTemporalDrifting }
enum	{ none = 0x0, correctionMultiplicative = 0x1 }
enum	{ HLI_EKF_STATE_SIZE = 16 }

Functions
double	timehuman (double val)
template<typename D >
Eigen::MatrixBase< D >::Scalar	getMedian (const Eigen::MatrixBase< D > &data)
Vector3	geometry_msgsToEigen (const geometry_msgs::Point &p)
	Converts a geometry_msgs::Point to an Eigen Vector3d.
Eigen::Quaterniond	geometry_msgsToEigen (const geometry_msgs::Quaternion &q)
	Converts a geometry_msgs::Quaternion to an Eigen::Quaterniond.
Matrix3	geometry_msgsCovBlockToEigen (const geometry_msgs::PoseWithCovariance::_covariance_type &gcov, int start_row, int start_col)
	Returns a 3x3 covariance block entry from a geometry_msgs::PoseWithCovariance::covariance array.
template<class Derived >
void	eigenCovBlockToGeometry_msgs (geometry_msgs::PoseWithCovariance::_covariance_type &gcov, const Eigen::MatrixBase< Derived > &ecov, int start_row, int start_col)
	Fills a 3x3 covariance block entry of a geometry_msgs::PoseWithCovariance::covariance array from an Eigen 3x3 matrix.
template<class Derived >
geometry_msgs::Point	eigenToGeometry_msgs (const Eigen::MatrixBase< Derived > &p)
	Converts any eigen vector with 3 elements to a geometry_msgs::Point.
geometry_msgs::Quaternion	eigenToGeometry_msgs (const Eigen::Quaterniond &q)
	Converts an Eigen::Quaterniond to a geometry_msgs::Quaternion.

Typedef Documentation

typedef Eigen::Quaternion<double> msf_core::Quaternion

typedef dynamic_reconfigure::Server<msf_core::MSF_CoreConfig> msf_core::ReconfigureServer

Enumeration Type Documentation

anonymous enum

Enumerator:

CoreStateWithPropagation
CoreStateWithoutPropagation
Auxiliary
AuxiliaryNonTemporalDrifting

anonymous enum

Enumerator:

none
correctionMultiplicative

anonymous enum

Enumerator:

HLI_EKF_STATE_SIZE

Number of states exchanged with external propagation.

Function Documentation

template<class Derived >

void msf_core::eigenCovBlockToGeometry_msgs	(	geometry_msgs::PoseWithCovariance::_covariance_type &	gcov,
		const Eigen::MatrixBase< Derived > &	ecov,
		int	start_row,
		int	start_col
	)

inline

Parameters

[out]	gcov	the geometry_msgs::PoseWithCovariance::covariance array to get the block from
[in]	ecov	3x3 Eigen::Matrix covariance block
[in]	start_row	start row of the block; use geometry_msgs::cov::p and geometry_msgs::cov::q
[in]	start_col	start column of the block; use geometry_msgs::cov::p and geometry_msgs::cov::q

template<class Derived >

geometry_msgs::Point msf_core::eigenToGeometry_msgs ( const Eigen::MatrixBase< Derived > & p )

inline

geometry_msgs::Quaternion msf_core::eigenToGeometry_msgs ( const Eigen::Quaterniond & q )

inline

Matrix3 msf_core::geometry_msgsCovBlockToEigen	(	const geometry_msgs::PoseWithCovariance::_covariance_type &	gcov,
		int	start_row,
		int	start_col
	)

inline

Parameters

gcov	the geometry_msgs::PoseWithCovariance::covariance array to get the block from.
start_row	start row of the block; use geometry_msgs::cov::p and geometry_msgs::cov::q .
start_col	start column of the block; use geometry_msgs::cov::p and geometry_msgs::cov::q .

Returns: 3x3 Eigen::Matrix covariance block.

Vector3 msf_core::geometry_msgsToEigen ( const geometry_msgs::Point & p )

inline

Eigen::Quaterniond msf_core::geometry_msgsToEigen ( const geometry_msgs::Quaternion & q )

inline

template<typename D >

Eigen::MatrixBase<D>::Scalar msf_core::getMedian ( const Eigen::MatrixBase< D > & data )

double msf_core::timehuman ( double val )

Namespaces

Classes

Typedefs

Enumerations

Functions

Typedef Documentation

Enumeration Type Documentation

Function Documentation