bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType > Class Template Reference

#include <ekf_sensor_fusion.h>

Public Types
typedef MotionModelType	motion_model_type
typedef ObservationModelType	observation_model_type
typedef DynMat< real_t >	matrix_type
typedef std::string	topic_type

Public Member Functions
	EKFSensorFusion (motion_model_type &motion_model, observation_model_type &observation_model)
	~EKFSensorFusion ()
void	step ()
void	predict (const std::string &input_message, const std::string &sensor_message, const topic_type &topic)
void	update (const std::string &sensor_message, const topic_type &topic)
EKFSensorFusion &	with_matrix (const std::string &name, const matrix_type &mat)
std::optional< std::string >	read_from_topic (const topic_type &topic, std::chrono::milliseconds timeout=std::chrono::milliseconds(1000))
void	add_input_topic (const std::string &mqtt_url, const topic_type &topic)
void	add_sensor_topic (const std::string &mqtt_url, const topic_type &topic, SensorTypeEnum sensor_type)
const matrix_type &	operator[] (const std::string &name) const
	Returns the name-th matrix.
matrix_type &	operator[] (const std::string &name)
	Returns the name-th matrix.
bool	has_matrix (const std::string &name) const
	Returns true if the matrix with the given name exists.

Member Typedef Documentation

matrix_type

template<typename MotionModelType , typename ObservationModelType >

typedef DynMat<real_t> bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::matrix_type

motion_model_type

template<typename MotionModelType , typename ObservationModelType >

typedef MotionModelType bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::motion_model_type

observation_model_type

template<typename MotionModelType , typename ObservationModelType >

typedef ObservationModelType bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::observation_model_type

topic_type

template<typename MotionModelType , typename ObservationModelType >

typedef std::string bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::topic_type

Constructor & Destructor Documentation

EKFSensorFusion()

template<typename MotionModelType , typename ObservationModelType >

bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::EKFSensorFusion	(	motion_model_type &	motion_model,
		observation_model_type &	observation_model
	)

~EKFSensorFusion()

template<typename MotionModelType , typename ObservationModelType >

bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::~EKFSensorFusion

(

)

Member Function Documentation

add_input_topic()

template<typename MotionModelType , typename ObservationModelType >

void bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::add_input_topic	(	const std::string &	mqtt_url,
		const topic_type &	topic
	)

add_sensor_topic()

template<typename MotionModelType , typename ObservationModelType >

void bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::add_sensor_topic	(	const std::string &	mqtt_url,
		const topic_type &	topic,
		SensorTypeEnum	sensor_type
	)

has_matrix()

template<typename MotionModelType , typename ObservationModelType >

bool bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::has_matrix

(

const std::string &

name

)

const

Returns true if the matrix with the given name exists.

operator[]() [1/2]

template<typename MotionModelType , typename ObservationModelType >

EKFSensorFusion< MotionModelType, ObservationModelType >::matrix_type & bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::operator[]

(

const std::string &

name

)

Returns the name-th matrix.

operator[]() [2/2]

template<typename MotionModelType , typename ObservationModelType >

const EKFSensorFusion< MotionModelType, ObservationModelType >::matrix_type & bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::operator[]

(

const std::string &

name

)

const

Returns the name-th matrix.

predict()

template<typename MotionModelType , typename ObservationModelType >

void bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::predict	(	const std::string &	input_message,
		const std::string &	sensor_message,
		const topic_type &	topic
	)

Predict the next state

Parameters

dt

read_from_topic()

template<typename MotionModelType , typename ObservationModelType >

std::optional< std::string > bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::read_from_topic	(	const topic_type &	topic,
		std::chrono::milliseconds	timeout = std::chrono::milliseconds(1000)
	)

step()

template<typename MotionModelType , typename ObservationModelType >

void bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::step

(

)

update()

template<typename MotionModelType , typename ObservationModelType >

void bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::update	(	const std::string &	sensor_message,
		const topic_type &	topic
	)

update the covariance matrix

with_matrix()

template<typename MotionModelType , typename ObservationModelType >

EKFSensorFusion< MotionModelType, ObservationModelType > & bitrl::sensors::EKFSensorFusion< MotionModelType, ObservationModelType >::with_matrix	(	const std::string &	name,
		const matrix_type &	mat
	)

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

• libs/bitrl/src/bitrl/sensors/ekf_sensor_fusion.h