holistic_fusion::SafeIntegratedNavState Class Reference

#include <NavState.h>

Inheritance diagram for holistic_fusion::SafeIntegratedNavState:

Collaboration diagram for holistic_fusion::SafeIntegratedNavState:

Public Member Functions
	SafeIntegratedNavState ()=default
	SafeIntegratedNavState (const SafeIntegratedNavState &safeIntegratedNavState)
	SafeIntegratedNavState (const Eigen::Isometry3d &T_W_O, const Eigen::Isometry3d &T_O_Ik_gravityAligned, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, const double timeK, const bool odomNotJump)
	SafeIntegratedNavState (const Eigen::Isometry3d &T_W_Ik, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, const double timeK)
void	update (const Eigen::Isometry3d &T_W_O, const Eigen::Isometry3d &T_O_Ik_gravityAligned, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, double timeK, bool odomNotJump)
void	updateInWorld (const Eigen::Isometry3d &T_W_Ik, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, const double timeK, bool odomNotJump)
void	updateYawInWorld (double yaw_W_Ik, bool odomNotJump)
void	updatePositionInWorld (const Eigen::Vector3d &W_t_W_Ik, bool odomNotJump)
void	updateLatestMeasurementTimestamp (const double timeK) override
const Eigen::Isometry3d &	getT_W_O () const
const Eigen::Isometry3d &	getT_O_Ik_gravityAligned () const
bool	isrelocalizedWorldToOdom () const
Public Member Functions inherited from holistic_fusion::NavState
	NavState ()=default
	NavState (const NavState &navState)=default
	NavState (const Eigen::Isometry3d &T_W_Ik, Eigen::Vector3d I_v_W_I, Eigen::Vector3d I_w_W_I, const double timeK)
const Eigen::Isometry3d &	getT_W_Ik () const
const Eigen::Vector3d &	getI_v_W_I () const
const Eigen::Vector3d &	getI_w_W_I () const
double	getTimeK () const

Private Attributes
Eigen::Isometry3d	T_W_O_ = Eigen::Isometry3d::Identity()
Eigen::Isometry3d	T_O_Ik_gravityAligned_ = Eigen::Isometry3d::Identity()
bool	relocalizedWorldToOdom_
std::mutex	stateUpdateMutex_

Additional Inherited Members
Protected Member Functions inherited from holistic_fusion::NavState
void	updateInWorld (const Eigen::Isometry3d &T_W_Ik, const Eigen::Vector3d &I_v_W_I, const Eigen::Vector3d &I_w_W_I, double timeK)
void	updateYawInWorld (double yaw_W_Ik)
void	updatePositionInWorld (const Eigen::Vector3d &W_t_W_Ik)
Protected Attributes inherited from holistic_fusion::NavState
Eigen::Isometry3d	T_W_Ik_ = Eigen::Isometry3d::Identity()
Eigen::Vector3d	I_v_W_I_ = Eigen::Vector3d::Zero()
Eigen::Vector3d	I_w_W_I_ = Eigen::Vector3d::Zero()
double	timeK_

Detailed Description

Definition at line 61 of file NavState.h.

Constructor & Destructor Documentation

SafeIntegratedNavState() [1/4]

holistic_fusion::SafeIntegratedNavState::SafeIntegratedNavState ( )

default

SafeIntegratedNavState() [2/4]

holistic_fusion::SafeIntegratedNavState::SafeIntegratedNavState ( const SafeIntegratedNavState & safeIntegratedNavState )

inline

Definition at line 67 of file NavState.h.

SafeIntegratedNavState() [3/4]

holistic_fusion::SafeIntegratedNavState::SafeIntegratedNavState ( const Eigen::Isometry3d & T_W_O, const Eigen::Isometry3d & T_O_Ik_gravityAligned, const Eigen::Vector3d & I_v_W_I, const Eigen::Vector3d & I_w_W_I, const double timeK, const bool odomNotJump )

inline

Definition at line 74 of file NavState.h.

SafeIntegratedNavState() [4/4]

holistic_fusion::SafeIntegratedNavState::SafeIntegratedNavState ( const Eigen::Isometry3d & T_W_Ik, const Eigen::Vector3d & I_v_W_I, const Eigen::Vector3d & I_w_W_I, const double timeK )

inline

Definition at line 81 of file NavState.h.

Member Function Documentation

getT_O_Ik_gravityAligned()

const Eigen::Isometry3d & holistic_fusion::SafeIntegratedNavState::getT_O_Ik_gravityAligned ( ) const

inline

Definition at line 99 of file NavState.h.

getT_W_O()

const Eigen::Isometry3d & holistic_fusion::SafeIntegratedNavState::getT_W_O ( ) const

inline

Definition at line 97 of file NavState.h.

isrelocalizedWorldToOdom()

bool holistic_fusion::SafeIntegratedNavState::isrelocalizedWorldToOdom ( ) const

inline

Definition at line 101 of file NavState.h.

update()

void holistic_fusion::SafeIntegratedNavState::update	(	const Eigen::Isometry3d &	T_W_O,
		const Eigen::Isometry3d &	T_O_Ik_gravityAligned,
		const Eigen::Vector3d &	I_v_W_I,
		const Eigen::Vector3d &	I_w_W_I,
		double	timeK,
		bool	odomNotJump )

Definition at line 72 of file NavState.cpp.

updateInWorld()

void holistic_fusion::SafeIntegratedNavState::updateInWorld	(	const Eigen::Isometry3d &	T_W_Ik,
		const Eigen::Vector3d &	I_v_W_I,
		const Eigen::Vector3d &	I_w_W_I,
		const double	timeK,
		bool	odomNotJump )

Definition at line 86 of file NavState.cpp.

updateLatestMeasurementTimestamp()

void holistic_fusion::SafeIntegratedNavState::updateLatestMeasurementTimestamp ( const double timeK )

overridevirtual

Reimplemented from holistic_fusion::NavState.

Definition at line 121 of file NavState.cpp.

updatePositionInWorld()

void holistic_fusion::SafeIntegratedNavState::updatePositionInWorld	(	const Eigen::Vector3d &	W_t_W_Ik,
		bool	odomNotJump )

Definition at line 108 of file NavState.cpp.

updateYawInWorld()

void holistic_fusion::SafeIntegratedNavState::updateYawInWorld	(	double	yaw_W_Ik,
		bool	odomNotJump )

Definition at line 95 of file NavState.cpp.

Member Data Documentation

relocalizedWorldToOdom_

bool holistic_fusion::SafeIntegratedNavState::relocalizedWorldToOdom_

private

Definition at line 108 of file NavState.h.

stateUpdateMutex_

std::mutex holistic_fusion::SafeIntegratedNavState::stateUpdateMutex_

private

Definition at line 110 of file NavState.h.

T_O_Ik_gravityAligned_

Eigen::Isometry3d holistic_fusion::SafeIntegratedNavState::T_O_Ik_gravityAligned_ = Eigen::Isometry3d::Identity()

private

Definition at line 106 of file NavState.h.

T_W_O_

Eigen::Isometry3d holistic_fusion::SafeIntegratedNavState::T_W_O_ = Eigen::Isometry3d::Identity()

private

Definition at line 105 of file NavState.h.

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

• holistic_fusion/include/holistic_fusion/interface/NavState.h
• holistic_fusion/src/lib/NavState.cpp