jafar::slam::DalaManager Class Reference

Class for managing Dala. More...

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Detailed Description

Class for managing Dala.

Definition at line 23 of file dala.hpp.

#include <dala.hpp>

Inheritance diagram for jafar::slam::DalaManager:

List of all members.

Public Member Functions
	DalaManager (BaseSlam &slam_, unsigned int robotId_=0)
	DalaManager (BaseSlam &slam_, unsigned int robotId_, const jblas::vec &_robotState, const jblas::sym_mat &_robotStateCov)
void	setDeltaPoseMin (double deltaPosMin_)
void	setEgoMotionModel (double kTrans_, double kzTrans_, double ksYaw_, double ksAtt_, double krYaw_)
void	setInitPose (jblas::vec const &worldToRobotCur_)
void	setRefToWorld (jblas::vec const &refToWorld_)
bool	nextFrameAbsolute (jblas::vec const &worldToRobotCur_)
bool	nextFrameRelative (jblas::vec const &robotPrevToRobotCur_)
bool	nextFrameRelative (jblas::vec const &robotPrevToRobotCur_, jblas::sym_mat const &robotPrevToRobotCurCov_, double noiseFactor=1.0)
void	setPredToRef (geom::T3DEuler const &predToRef)
Static Public Member Functions
static bool	isVmeOk (jblas::vec const &me, jblas::sym_mat const &meCov, double thTrans, double thRot)
Protected Member Functions
void	writeLogHeader (jafar::kernel::DataLogger &dataLogger) const
	Implements this method calling repeatidly log methods.
void	writeLogData (jafar::kernel::DataLogger &dataLogger) const
	Implements this method calling repeatidly log methods.
Private Member Functions
bool	nextFrameRelativeNoUncertainty ()
bool	nextFrameRelative ()
void	slamPredict ()
Private Attributes
Full3dPredictModel	predictModel
BaseSlam &	slam
double	kTrans
double	kzTrans
double	ksYaw
double	ksAtt
double	krYaw
double	deltaPosMin
geom::T3DEuler	currentRobotPosePredict
geom::T3DEuler	worldToRobotCur
geom::T3DEuler	worldToRobotPrev
geom::T3DEuler	robotPrevToRobotCur
geom::T3DEuler	worldToRobot
geom::T3DEuler	refToWorld
geom::T3DEuler	worldToRef
int	robotId

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Member Function Documentation

void jafar::slam::DalaManager::setEgoMotionModel	(	double	kTrans_,
		double	kzTrans_,
		double	ksYaw_,
		double	ksAtt_,
		double	krYaw_
	)		[inline]

Parameters:

kTrans_	uncertainty on forward translation when moving forward (m/sqrt(m))
kzTrans_	uncertainty on vertical translation when moving forward (m/sqrt(m))
ksYaw_	uncertainty on Yaw-rotation when moving forward (rad/sqrt(m))
ksAtt_	uncertainty on Pitch-rotation and Roll-rotation when moving forward (rad/sqrt(m))
krYaw_	uncertainty on Yaw-rotation when Yaw-rotating (rad/sqrt(rad))

Definition at line 73 of file dala.hpp.

void jafar::slam::DalaManager::writeLogData

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

Implements jafar::kernel::DataLoggable.

void jafar::slam::DalaManager::writeLogHeader

(

jafar::kernel::DataLogger &

log

)

const [protected, virtual]

Implements this method calling repeatidly log methods.

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

Implements jafar::kernel::DataLoggable.

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

• modules/slam/include/slam/dala.hpp