Detailed Description

Definition at line 43 of file robotAbstract.hpp.

Inheritance diagram for jafar::rtslam::RobotQuantity:

Public Types
enum	Quantity { qPos, qOriQuat, qAbsVel, qAngVel, qAbsAcc, qAngAcc, qAbsJerk, qAngJerk, qG, qNormG, qNQuantity }
	enumerates the different quantities that a proprioceptive sensor can provide More...
typedef std::vector< Quantity >	QuantityList
Public Member Functions
	RobotQuantity (QuantityList quants)
	RobotQuantity (RobotQuantity const &robQuant, QuantityList quants)
virtual bool	registerRobotQuantity (Quantity quantity)
	robot or environment quantities to be estimated, that are shared by sensors and predefined
virtual ublas::range	allocateSensorQuantity (size_t size)
	sensor quantities to be estimated (biases, ...) that are defined by the sensor
virtual void	clearQuantities ()
	clear all allocated quantities
bool	hasQuantity (Quantity quantity)
ublas::range	getQuantity (Quantity quantity)
jblas::ind_array	getQuantities ()
Static Public Attributes
static const int	QuantityDataSizes [qNQuantity]
Protected Attributes
size_t	state_size
int	quantities [qNQuantity]

Member Enumeration Documentation

enumerates the different quantities that a proprioceptive sensor can provide

Parameters:

qPos	position (x y z)
qOriQuat	orientation as a quaternion (qx qy qz qw)
qAbsVel	linear velocity in the world's frame (vx vy vz)
qAngVel	angular velocity in the robot's frame (wx wy wz)
qG	earth gravitation (gx gy gz)
qNormG	earth gravitation (gx gy gz)

Definition at line 55 of file robotAbstract.hpp.

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