jafar::rtslam::RobotOdometry Class Reference

Odometry motion model robot class. More...

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Detailed Description

Odometry motion model robot class.

This class implements a rigid frame in 3D moving with an odometry motion model. This model performs one step on the pose F of a vehicle, given odometry increments U=[dx,dv] given by the robot frame.

This model is the following:
-p += dx <- position -q += v2q(dv) <- quaternion dx : position increment <- given by odometry sensors dv : orientation increment <- given by odometry sensors

This model is embedded into the system variables as follows:

• the prediction function is x+ = f(x,u), implemented with method move().
• the state vector is x = state.x = [p q]
• the state covariance is in the map, P = state.P = (map.filter).P(state.ia, state.ia)
• the control vector is u = control.x = [dx dv]
• the control covariances matrix is U = control.P
• the Jacobians of f(x,u) provided by move() are XNEW_x and XNEW_control.
• the perturbation covariance is obtained with the method computeStatePerturbation(), as follows:
  • Q = XNEW_control * control.P * XNEW_control'
    

See also:

Explore the comments in file robotOdometry.cpp for full algebraic details.

Definition at line 52 of file robotOdometry.hpp.

#include <robotOdometry.hpp>

Inheritance diagram for jafar::rtslam::RobotOdometry:

List of all members.

Classes
struct	TempVariables
Public Member Functions
	RobotOdometry (const map_ptr_t _mapPtr)
	Remote constructor from remote map.
virtual std::string	typeName () const
void	move_func (const vec &_x, const vec &_u, const vec &_n, const double _dt, vec &_xnew, mat &_XNEW_x, mat &_XNEW_u, unsigned tempSet=0) const
	Move one step ahead.
bool	move (double time)
void	init_func (const vec &_x, const vec &_u, vec &_xnew)
virtual size_t	mySize ()
virtual size_t	mySize_control ()
virtual size_t	mySize_perturbation ()
virtual void	writeLogHeader (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Static Public Member Functions
static size_t	size ()
static size_t	size_control ()
static size_t	size_perturbation ()
Protected Member Functions
template<class Vx , class Vp , class Vq >
void	splitState (const Vx x, Vp &p, Vq &q) const
	Split state vector.
template<class Vp , class Vq , class Vx >
void	unsplitState (const Vp &p, const Vq &q, Vx &x) const
	Compose state vector.
template<class Vu , class V >
void	splitControl (Vu &u, V &dx, V &dv) const
	Split control vector.
Private Attributes
TempVariables	tempvars0
TempVariables	tempvars1

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Constructor & Destructor Documentation

jafar::rtslam::RobotOdometry::RobotOdometry

(

const map_ptr_t

_mapPtr

)

Remote constructor from remote map.

Parameters:

_map	the remote map

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Member Function Documentation

void jafar::rtslam::RobotOdometry::move_func	(	const vec &	_x,
		const vec &	_u,
		const vec &	_n,
		const double	_dt,
		vec &	_xnew,
		mat &	_XNEW_x,
		mat &	_XNEW_u,
		unsigned	tempSet = 0
	)		const [virtual]

Move one step ahead.

This function predicts the robot state one step of length dt ahead in time, according to the control input control.x and the time interval control.dt.

Parameters:

_x	the current state vector
_u	the odometry input vector
_dt	the sampling time
_xnew	the new state vector
_XNEW_x	the Jacobian of xnew wrt x
_XNEW_pert	the Jacobian of xnew wrt u

Implements jafar::rtslam::RobotAbstract.

template<class Vu , class V >

void jafar::rtslam::RobotOdometry::splitControl	(	Vu &	u,
		V &	dx,
		V &	dv
	)		const [inline, protected]

Split control vector.

Extracts odometry datas dx and dv from the odometry vector.

Parameters:

dx	the position increment.
dv	the orientation increment.

Definition at line 151 of file robotOdometry.hpp.

template<class Vx , class Vp , class Vq >

void jafar::rtslam::RobotOdometry::splitState	(	const Vx	x,
		Vp &	p,
		Vq &	q
	)		const [inline, protected]

Split state vector.

Extracts p and q from the state vector, x = [p, q].

Parameters:

x	the state vector
p	the position
q	the quaternion

Definition at line 124 of file robotOdometry.hpp.

template<class Vp , class Vq , class Vx >

void jafar::rtslam::RobotOdometry::unsplitState	(	const Vp &	p,
		const Vq &	q,
		Vx &	x
	)		const [inline, protected]

Compose state vector.

Composes the state vector with p and q, x = [p, q].

Parameters:

p	the position
q	the quaternion
x	the state vector

Definition at line 138 of file robotOdometry.hpp.

virtual void jafar::rtslam::RobotOdometry::writeLogData

(

kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Reimplemented from jafar::rtslam::RobotAbstract.

virtual void jafar::rtslam::RobotOdometry::writeLogHeader

(

kernel::DataLogger &

log

)

const [virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

Reimplemented from jafar::rtslam::RobotAbstract.

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

• modules/rtslam/include/rtslam/robotOdometry.hpp