Class to represent x-dimensional absolute unary measurement in the graph. More...

#include <UnaryMeasurementXDAbsolute.h>

Inheritance diagram for holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >:

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Collaboration diagram for holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >:

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Public Member Functions
	UnaryMeasurementXDAbsolute (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 MEASUREMENT_TYPE &unaryMeasurement, const Eigen::Matrix< double, DIM, 1 > &unaryMeasurementNoiseDensity, 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 with a specific dimension.
	~UnaryMeasurementXDAbsolute () override=default
std::string	summary () const override
Public Member Functions inherited from 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)
	Constructor to create an absolute unary measurement.
	~UnaryMeasurementAbsolute () override=default
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)
Public Member Functions inherited from holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >
	UnaryMeasurementXD (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 MEASUREMENT_TYPE &unaryMeasurement, const Eigen::Matrix< double, DIM, 1 > &unaryMeasurementNoiseDensity)
	Constructor to create an absolute unary measurement.
	~UnaryMeasurementXD () override=default
const MEASUREMENT_TYPE &	unaryMeasurement () const
MEASUREMENT_TYPE &	unaryMeasurement ()
const Eigen::Matrix< double, DIM, 1 > &	unaryMeasurementNoiseDensity () const
const Eigen::Matrix< double, DIM, 1 > &	unaryMeasurementNoiseVariances () const
const Eigen::Matrix< double, DIM, DIM >	unaryMeasurementNoiseCovariance () const
MEASUREMENT_TYPE &	lv_unaryMeasurement ()

Friends
std::ostream &	operator<< (std::ostream &os, const UnaryMeasurementXDAbsolute &unaryMeasurementXDAbsolute)

Additional Inherited Members
Protected Attributes inherited from holistic_fusion::UnaryMeasurementAbsolute
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_
Protected Attributes inherited from holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >
MEASUREMENT_TYPE	unaryMeasurement_
Eigen::Matrix< double, DIM, 1 >	unaryMeasurementNoiseDensity_
Eigen::Matrix< double, DIM, 1 >	unaryMeasurementNoiseVariances_

Detailed Description

template<class MEASUREMENT_TYPE, int DIM>
class holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >

Class to represent x-dimensional absolute unary measurement in the graph.

Description: This class is used to represent x-dimensional absolute unary measurement in the graph.

Template Parameters

MEASUREMENT_TYPE	The type of the unary measurement. E.g. Eigen::Vector3d for a 3D position measurement.
DIM	The dimension of the unary measurement. E.g. '3' for a 3D position measurement.

Definition at line 30 of file UnaryMeasurementXDAbsolute.h.

Constructor & Destructor Documentation

◆ UnaryMeasurementXDAbsolute()

template<class MEASUREMENT_TYPE, int DIM>

holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >::UnaryMeasurementXDAbsolute	(	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 MEASUREMENT_TYPE &	unaryMeasurement,
		const Eigen::Matrix< double, DIM, 1 > &	unaryMeasurementNoiseDensity,
		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 with a specific dimension.

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 UnaryMeasurementXDAbsolute.h.

◆ ~UnaryMeasurementXDAbsolute()

template<class MEASUREMENT_TYPE, int DIM>

holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >::~UnaryMeasurementXDAbsolute ( )

overridedefault

Member Function Documentation

◆ summary()

template<class MEASUREMENT_TYPE, int DIM>

std::string holistic_fusion::UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM >::summary ( ) const

inlineoverridevirtual

Reimplemented from holistic_fusion::UnaryMeasurementAbsolute.

Definition at line 60 of file UnaryMeasurementXDAbsolute.h.

◆ operator<<

template<class MEASUREMENT_TYPE, int DIM>

std::ostream & operator<<	(	std::ostream &	os,
		const UnaryMeasurementXDAbsolute< MEASUREMENT_TYPE, DIM > &	unaryMeasurementXDAbsolute )

friend

Definition at line 68 of file UnaryMeasurementXDAbsolute.h.

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

holistic_fusion/include/holistic_fusion/measurements/UnaryMeasurementXDAbsolute.h

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ UnaryMeasurementXDAbsolute()

◆ ~UnaryMeasurementXDAbsolute()

Member Function Documentation

◆ summary()

Friends And Related Symbol Documentation

◆ operator<<