jafar::rtslam::hardware::HardwareSensorProprioAbstract Class Reference

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Detailed Description

Definition at line 300 of file hardwareSensorAbstract.hpp.

Inheritance diagram for jafar::rtslam::hardware::HardwareSensorProprioAbstract:

List of all members.

Public Types
enum	Quantity {   qPos, qOriQuat, qOriEuler, qVel,   qAbsVel, qNormVel, qAngVel, qAbsAngVel,   qAcc, qAbsAcc, qBundleobs, qMag,   qNQuantity }
	enumerates the different quantities that a proprioceptive sensor can provide More...
enum	CovType { ctNone, ctVar, ctFull }
Public Member Functions
	HardwareSensorProprioAbstract (kernel::VariableCondition< int > *condition, Mode mode, unsigned bufferSize, CovType covType)
size_t	dataSize ()
size_t	obsSize ()
	number of measure variables provided (without timestamp and variance)
size_t	readingSize ()
	number of observation variables among measure variables (that can be predicted from the robot state and the rest of the measure variables)
size_t	getQuantity (Quantity quantity)
	the size of a reading vector that stores everything
CovType	covType ()
	get index of quantity, -1 if not measured
jblas::sym_mat	extractDataCovBlock (size_t pos, size_t size)
	does this hardware sensor return full covariance matrices with data?
void	initData ()
virtual jblas::ind_array	instantValues ()=0
	This function must return the indices of values returned by acquireReadings that represent the instant value of a physical quantity (speed, acceleration, ...) (except first column which is time) These values will typically be integrated.
virtual jblas::ind_array	incrementValues ()=0
	This function must return the indices of values returned by acquireReadings that represent the increment of a physical quantity since last reading (odometry, ...)
Static Public Attributes
static const int	QuantityDataSizes [qNQuantity]
static const int	QuantityObsSizes [qNQuantity]
Protected Member Functions
void	addQuantity (Quantity quantity)
void	addDataQuantities (int n)
void	clearQuantities ()
Protected Attributes
RawVec	reading
ProprioLog	log
Private Attributes
int	quantities [qNQuantity]
size_t	data_size
size_t	obs_size
CovType	cov_type

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Member Enumeration Documentation

enum jafar::rtslam::hardware::HardwareSensorProprioAbstract::Quantity

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)
qOriEuler	orientation as euler angles (ex ey ez)
qVel	linear velocity in the sensor's frame (vx vy vz)
qAbsVel	linear velocity in the world's frame (vx vy vz)
qNormVel	norm of linear velocity (v)
qAngVel	angular velocity in the sensor's frame (wx wy wz)
qAbsAngVel	angular velocity in the world's frame (wx wy wz)
qAcc	acceleration in the sensor's frame (ax ay az)
qAbsAcc	acceleration in the world's frame (ax ay az)
qBundleobs	observation of the direction between the robot and some known position (landmark, other robot, ...) (x y z ux uy uz). Note that the observation can be made by the robot itself or by something else and sent to the robot, but the convention is that in any case (ux,uy,uz) must be oriented from the robot to the other known position.

Definition at line 319 of file hardwareSensorAbstract.hpp.

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

• modules/rtslam/include/rtslam/hardwareSensorAbstract.hpp