Class to represent an absolute unary measurement in the graph. Exact dimension is not known. More...

#include <UnaryMeasurementAbsolute.h>

Inheritance diagram for holistic_fusion::UnaryMeasurementAbsolute:

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Collaboration diagram for holistic_fusion::UnaryMeasurementAbsolute:

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Public Member Functions
	UnaryMeasurementAbsolute (const std::string &measurementName, const int measurementRate, const std::string &sensorFrameName, const std::string &sensorFrameCorrectedName, const RobustNorm robustNorm, const double timeStamp, const double covarianceViolationThreshold, const std::string &fixedFrameName, const std::string &worldFrameName, const std::optional< Eigen::Matrix< double, 6, 1 > > &initialSe3AlignmentNoise=std::nullopt, const std::optional< Eigen::Matrix< double, 6, 1 > > &se3AlignmentRandomWalk=std::nullopt)
	Constructor to create an absolute unary measurement.
	~UnaryMeasurementAbsolute () override=default
virtual std::string	summary () const
const std::string &	fixedFrameName () const
const std::string &	worldFrameName () const
const Eigen::Matrix< double, 6, 1 > &	initialSe3AlignmentNoise () const
const Eigen::Matrix< double, 6, 1 > &	se3AlignmentRandomWalk () const
bool	modelAsRandomWalkFlag () const
Public Member Functions inherited from holistic_fusion::UnaryMeasurement
	UnaryMeasurement (const std::string &measurementName, const int measurementRate, const std::string &sensorFrameName, const std::string &sensorFrameCorrectedName, const RobustNorm robustNorm, const double timeStamp, const double covarianceViolationThreshold)
	Constructor to create a unary measurement.
	~UnaryMeasurement () override=default
std::string &	lv_sensorFrameName ()
double	timeK () const
double	covarianceViolationThreshold () const
const MeasurementTypeEnum &	measurementTypeEnum () override
Public Member Functions inherited from holistic_fusion::Measurement
	Measurement (const std::string &measurementName, const int measurementRate, const std::string &sensorFrameName, const std::string &sensorFrameCorrectedName, const RobustNorm &robustNorm, const MeasurementTypeEnum &measurementTypeEnum)
	Constructor to create a unary measurement.
virtual	~Measurement ()=default
const std::string &	measurementName () const
	Names.
const std::string &	sensorFrameName () const
const std::string &	sensorFrameCorrectedName () const
int	measurementRate () const
	Rest.
const RobustNorm &	robustNorm () const
const RobustNormEnum &	robustNormEnum () const
const double &	robustNormConstant () const
void	setMeasurementName (std::string measurementName)
void	setSensorFrameName (std::string sensorFrameName)

Protected Attributes
std::string	fixedFrameName_
std::string	worldFrameName_
Eigen::Matrix< double, 6, 1 >	initialSe3AlignmentNoise_
Eigen::Matrix< double, 6, 1 >	se3AlignmentRandomWalk_
bool	modelAsRandomWalkFlag_ = false
Protected Attributes inherited from holistic_fusion::UnaryMeasurement
double	timeK_
double	covarianceViolationThreshold_
Protected Attributes inherited from holistic_fusion::Measurement
std::string	measurementName_
int	measurementRate_
std::string	sensorFrameName_
std::string	sensorFrameCorrectedName_
MeasurementTypeEnum	measurementTypeEnum_
RobustNorm	robustNorm_

Friends
std::ostream &	operator<< (std::ostream &os, const UnaryMeasurementAbsolute &unaryMeasurementAbsolute)

Detailed Description

Class to represent an absolute unary measurement in the graph. Exact dimension is not known.

Description: This class is used to represent an absolute unary measurement in the graph. It is a base class for all absolute unary measurements.

Definition at line 26 of file UnaryMeasurementAbsolute.h.

Constructor & Destructor Documentation

◆ UnaryMeasurementAbsolute()

holistic_fusion::UnaryMeasurementAbsolute::UnaryMeasurementAbsolute	(	const std::string &	measurementName,
		const int	measurementRate,
		const std::string &	sensorFrameName,
		const std::string &	sensorFrameCorrectedName,
		const RobustNorm	robustNorm,
		const double	timeStamp,
		const double	covarianceViolationThreshold,
		const std::string &	fixedFrameName,
		const std::string &	worldFrameName,
		const std::optional< Eigen::Matrix< double, 6, 1 > > &	initialSe3AlignmentNoise = std::nullopt,
		const std::optional< Eigen::Matrix< double, 6, 1 > > &	se3AlignmentRandomWalk = std::nullopt )

inline

Constructor to create an absolute unary measurement.

Constructor to create a unary measurement.

Parameters

measurementName	Name of the measurement.
measurementRate	Rate of the measurement. Mostly used for checking in the core whether all is working correctly.
sensorFrameName	Name of the sensor frame.
sensorFrameCorrectedName	Name of the corrected sensor frame.
robustNorm	Robust norm to be used for the measurement.
measurementTypeEnum	Type of the measurement.
timeStamp	Time stamp of the measurement. Argument of parent class.
covarianceViolationThreshold	Threshold for the covariance violation. Argument of parent class.
fixedFrameName	Name of the fixed frame. This is the frame w.r.t. which the ABSOLUTE measurement is defined.
worldFrameName	Name of the world frame. This is needed for checking correctness of provided arguments.
initialSe3AlignmentNoise	Initial noise for the SE3 alignment. If not provided, fixed frame has to be the world frame (as no alignment can be performed).
se3AlignmentRandomWalk	Random walk for the SE3 alignment. If not provided or set to zero, no random walk is used but alignment is treated as global variable.

Definition at line 40 of file UnaryMeasurementAbsolute.h.

◆ ~UnaryMeasurementAbsolute()

holistic_fusion::UnaryMeasurementAbsolute::~UnaryMeasurementAbsolute ( )

overridedefault

Member Function Documentation

◆ fixedFrameName()

const std::string & holistic_fusion::UnaryMeasurementAbsolute::fixedFrameName ( ) const

inlinenodiscard

Definition at line 95 of file UnaryMeasurementAbsolute.h.

◆ initialSe3AlignmentNoise()

const Eigen::Matrix< double, 6, 1 > & holistic_fusion::UnaryMeasurementAbsolute::initialSe3AlignmentNoise ( ) const

inlinenodiscard

Definition at line 97 of file UnaryMeasurementAbsolute.h.

◆ modelAsRandomWalkFlag()

bool holistic_fusion::UnaryMeasurementAbsolute::modelAsRandomWalkFlag ( ) const

inlinenodiscard

Definition at line 99 of file UnaryMeasurementAbsolute.h.

◆ se3AlignmentRandomWalk()

const Eigen::Matrix< double, 6, 1 > & holistic_fusion::UnaryMeasurementAbsolute::se3AlignmentRandomWalk ( ) const

inlinenodiscard

Definition at line 98 of file UnaryMeasurementAbsolute.h.

◆ summary()

virtual std::string holistic_fusion::UnaryMeasurementAbsolute::summary ( ) const

inlinenodiscardvirtual

Reimplemented from holistic_fusion::UnaryMeasurement.

Reimplemented in holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >, and holistic_fusion::UnaryMeasurementXDAbsolute< Eigen::Isometry3d, 6 >.

Definition at line 80 of file UnaryMeasurementAbsolute.h.

◆ worldFrameName()

const std::string & holistic_fusion::UnaryMeasurementAbsolute::worldFrameName ( ) const

inlinenodiscard

Definition at line 96 of file UnaryMeasurementAbsolute.h.

◆ operator<<

std::ostream & operator<<	(	std::ostream &	os,
		const UnaryMeasurementAbsolute &	unaryMeasurementAbsolute )

friend

Definition at line 89 of file UnaryMeasurementAbsolute.h.

Member Data Documentation

◆ fixedFrameName_

std::string holistic_fusion::UnaryMeasurementAbsolute::fixedFrameName_

protected

Definition at line 103 of file UnaryMeasurementAbsolute.h.

◆ initialSe3AlignmentNoise_

Eigen::Matrix<double, 6, 1> holistic_fusion::UnaryMeasurementAbsolute::initialSe3AlignmentNoise_

protected

Definition at line 105 of file UnaryMeasurementAbsolute.h.

◆ modelAsRandomWalkFlag_

bool holistic_fusion::UnaryMeasurementAbsolute::modelAsRandomWalkFlag_ = false

protected

Definition at line 107 of file UnaryMeasurementAbsolute.h.

◆ se3AlignmentRandomWalk_

Eigen::Matrix<double, 6, 1> holistic_fusion::UnaryMeasurementAbsolute::se3AlignmentRandomWalk_

protected

Definition at line 106 of file UnaryMeasurementAbsolute.h.

◆ worldFrameName_

std::string holistic_fusion::UnaryMeasurementAbsolute::worldFrameName_

protected

Definition at line 104 of file UnaryMeasurementAbsolute.h.

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

holistic_fusion/include/holistic_fusion/measurements/UnaryMeasurementAbsolute.h

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UnaryMeasurementAbsolute()

◆ ~UnaryMeasurementAbsolute()

Member Function Documentation

◆ fixedFrameName()

◆ initialSe3AlignmentNoise()

◆ modelAsRandomWalkFlag()

◆ se3AlignmentRandomWalk()

◆ summary()

◆ worldFrameName()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ fixedFrameName_

◆ initialSe3AlignmentNoise_

◆ modelAsRandomWalkFlag_

◆ se3AlignmentRandomWalk_

◆ worldFrameName_