jafar::rtslam::SensorAbsloc Class Reference

Class for absolute localization sensors (gps, motion capture...) For now we assume that we have at least one reading before images and that is is very precise. More...

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Detailed Description

Class for absolute localization sensors (gps, motion capture...) For now we assume that we have at least one reading before images and that is is very precise.

Improvements would be to start at 0,0,0 with uncertainty 0 and estimate the initial position.

Definition at line 37 of file sensorAbsloc.hpp.

#include <sensorAbsloc.hpp>

Inheritance diagram for jafar::rtslam::SensorAbsloc:

List of all members.

Public Member Functions
std::vector < RobotAbstract::Quantity >	returnQuants (bool needPose, bool needVel, bool needAngVel)
	SensorAbsloc (const robot_ptr_t &robPtr, const filtered_obj_t inFilter=UNFILTERED, double mahaDist=-1.0, double sigMax=1e9, bool needPose=true, bool needVel=false, bool needAngVel=false)
virtual void	setHardwareSensor (hardware::hardware_sensorprop_ptr_t hardwareSensorPtr_)
virtual void	init (unsigned id)
virtual void	process (unsigned id, double date_limit)
	process the given raw and throw away the previous unprocessed ones
Protected Attributes
jblas::ind_array	ia_rs
Innovation *	innovation
Measurement *	measurement
Expectation *	expectation
jblas::mat	EXP_rs
jblas::mat	INN_rs
jblas::mat	EXP_q
double	mahaDist2
double	sigMax
int	inns
int	dats
	innovation size
jblas::vec	origin
	data size
Private Attributes
size_t	indexE_Pos
size_t	indexE_OriEuler
size_t	indexE_Bundleobs
size_t	indexE_AbsVel
size_t	indexE_NormVel
size_t	indexE_Vel
int	indexD_Pos
	indexes in expectation
int	indexD_OriQuat
int	indexD_OriEuler
int	indexD_Bundleobs
int	indexD_AbsVel
int	indexD_NormVel
int	indexD_Vel
ublas::range	indexR_Pos
	indexes in sensor's data
ublas::range	indexR_OriQuat
ublas::range	indexR_AbsVel
ublas::range	indexR_AngVel
ublas::range	indexJ_Pos
	indexes in robot's full state
ublas::range	indexJ_OriQuat
ublas::range	indexJ_AbsVel
ublas::range	indexJ_AngVel
hardware::HardwareSensorProprioAbstract::CovType	covType
	indexes in robot's jacobian

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Member Function Documentation

virtual void jafar::rtslam::SensorAbsloc::process	(	unsigned	id,
		double	date_limit
	)		[inline, virtual]

process the given raw and throw away the previous unprocessed ones

Returns:

innovation

Implements jafar::rtslam::SensorAbstract.

Definition at line 168 of file sensorAbsloc.hpp.

References dats, jafar::rtslam::quaternion::e2q(), indexD_Pos, indexJ_Pos, jafar::rtslam::Innovation::iP_, JFR_ASSERT, jafar::jmath::ublasExtra::lu_inv(), jafar::rtslam::Innovation::mahalanobis(), jafar::jmath::ublasExtra::normalize(), jafar::jmath::ublasExtra::normalizeJac(), jafar::rtslam::SensorAbstract::pose, jafar::jmath::ublasExtra::prod_JPJt(), jafar::rtslam::quaternion::q2e(), jafar::rtslam::quaternion::q2qc(), jafar::rtslam::quaternion::qProd(), jafar::rtslam::quaternion::qProd_by_dq1(), jafar::rtslam::quaternion::rotate(), jafar::rtslam::quaternion::rotate_by_dq(), jafar::rtslam::MapObject::state, and jafar::rtslam::SensorAbstract::use_for_init.

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Member Data Documentation

jblas::vec jafar::rtslam::SensorAbsloc::origin [protected]

data size

origin of this sensor's frame reference wrt the frame reference exported

Definition at line 50 of file sensorAbsloc.hpp.

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

• modules/rtslam/include/rtslam/sensorAbsloc.hpp