Classes | |
struct | TOptions |
Public Member Functions | |
CRobotStateEstimator () | |
Default constructor. | |
virtual | ~CRobotStateEstimator () |
Destructor. | |
void | reset () |
void | processUpdateNewPoseLocalization (const TPose2D &newPose, const CMatrixDouble33 &newPoseCov, TTimeStamp cur_tim) |
Updates the filter so the pose is tracked to the current time. | |
void | processUpdateNewOdometry (const TPose2D &newGlobalOdometry, TTimeStamp cur_tim, bool hasVelocities=false, float v=0, float w=0) |
Updates the filter so the pose is tracked to the current time. | |
bool | getCurrentEstimate (TPose2D &pose, float &v, float &w, TTimeStamp tim_query=mrpt::system::now()) |
Get the current estimate, obtained as:. | |
Public Attributes | |
TOptions | params |
parameters of the filter. | |
Static Private Member Functions | |
static void | extrapolateRobotPose (const TPose2D &p, const float v, const float w, const double delta_time, TPose2D &new_p) |
An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time". | |
Private Attributes | |
mrpt::synch::CCriticalSection | m_cs |
TTimeStamp | m_last_loc_time |
TPose2D | m_last_loc |
Last pose as estimated by the localization/SLAM subsystem. | |
CMatrixDouble33 | m_last_loc_cov |
TPose2D | m_loc_odo_ref |
The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings). | |
TTimeStamp | m_last_odo_time |
TPose2D | m_last_odo |
float | m_robot_v |
float | m_robot_w |
The filter can be asked for an extrapolation for some arbitrary time "t'", and it'll do a simple linear prediction. All methods are thread-safe.
Definition at line 293 of file CPRRTNavigator.h.
mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::CRobotStateEstimator | ( | ) |
Default constructor.
virtual mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::~CRobotStateEstimator | ( | ) | [virtual] |
Destructor.
static void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::extrapolateRobotPose | ( | const TPose2D & | p, | |
const float | v, | |||
const float | w, | |||
const double | delta_time, | |||
TPose2D & | new_p | |||
) | [static, private] |
An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time".
bool mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::getCurrentEstimate | ( | TPose2D & | pose, | |
float & | v, | |||
float & | w, | |||
TTimeStamp | tim_query = mrpt::system::now() | |||
) |
Get the current estimate, obtained as:.
last_loc (+) [ last_odo (-) odo_ref ] (+) extrapolation_from_vw
void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::processUpdateNewOdometry | ( | const TPose2D & | newGlobalOdometry, | |
TTimeStamp | cur_tim, | |||
bool | hasVelocities = false , |
|||
float | v = 0 , |
|||
float | w = 0 | |||
) |
Updates the filter so the pose is tracked to the current time.
void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::processUpdateNewPoseLocalization | ( | const TPose2D & | newPose, | |
const CMatrixDouble33 & | newPoseCov, | |||
TTimeStamp | cur_tim | |||
) |
Updates the filter so the pose is tracked to the current time.
void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::reset | ( | ) |
mrpt::synch::CCriticalSection mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_cs [private] |
Definition at line 336 of file CPRRTNavigator.h.
Last pose as estimated by the localization/SLAM subsystem.
Definition at line 339 of file CPRRTNavigator.h.
Definition at line 340 of file CPRRTNavigator.h.
TTimeStamp mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_loc_time [private] |
Definition at line 338 of file CPRRTNavigator.h.
Definition at line 345 of file CPRRTNavigator.h.
TTimeStamp mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_odo_time [private] |
Definition at line 344 of file CPRRTNavigator.h.
The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings).
Definition at line 342 of file CPRRTNavigator.h.
Definition at line 346 of file CPRRTNavigator.h.
Definition at line 347 of file CPRRTNavigator.h.
Page generated by Doxygen 1.5.9 for MRPT 0.7.1 SVN: at Mon Aug 17 22:21:34 EDT 2009 |