#include <SmbEstimator.h>

Inheritance diagram for smb_se::SmbEstimator:

[legend]

Collaboration diagram for smb_se::SmbEstimator:

[legend]

Public Member Functions
	SmbEstimator (std::shared_ptr< ros::NodeHandle > privateNodePtr)
	~SmbEstimator ()=default
void	setup ()
Public Member Functions inherited from holistic_fusion::HolisticFusionRos
	HolisticFusionRos (const std::shared_ptr< ros::NodeHandle > &privateNodePtr)
	~HolisticFusionRos () override=default
void	setup (const std::shared_ptr< StaticTransforms > staticTransformsPtr)
Public Member Functions inherited from holistic_fusion::HolisticFusionClassic
	HolisticFusionClassic ()
virtual	~HolisticFusionClassic ()=default
void	addUnaryRollAbsoluteMeasurement (const UnaryMeasurementXDAbsolute< double, 1 > &roll_F_S) override
	Unary Measurements / Absolute Measurements.
void	addUnaryPitchAbsoluteMeasurement (const UnaryMeasurementXDAbsolute< double, 1 > &pitch_F_S) override
void	addUnaryYawAbsoluteMeasurement (const UnaryMeasurementXDAbsolute< double, 1 > &yaw_W_S) override
void	addBinaryPose3Measurement (const BinaryMeasurementXD< Eigen::Isometry3d, 6 > &F_T_F_S) override
	Binary Measurements.
Public Member Functions inherited from holistic_fusion::HolisticFusion
	HolisticFusion ()
	Constructor --------—.
virtual	~HolisticFusion ()
	Destructor --------—.
void	setup (const std::shared_ptr< GraphConfig > graphConfigPtr, const std::shared_ptr< StaticTransforms > staticTransformsPtr)
bool	initYawAndPositionInWorld (const double yaw_W_frame1, const Eigen::Vector3d &W_t_W_frame2, const std::string &frame1, const std::string &frame2)
bool	initYawAndPosition (const UnaryMeasurementXD< Eigen::Isometry3d, 6 > &unary6DMeasurement)
bool	initWorldFrameToFixedFrameTransform (const Eigen::Isometry3d &T_W_F, const std::string &fixedFrame)
bool	optimizeSlowBatchSmoother (int maxIterations, const std::string &savePath, const bool saveCovarianceFlag)
std::optional< BatchOptimizationResult >	optimizeSlowBatchSmoother (int maxIterations, const bool computePoseCovarianceFlag)
bool	logRealTimeNavStates (const std::string &savePath)
bool	areYawAndPositionInited () const
bool	areRollAndPitchInited () const
bool	isGraphInited () const
bool	getNormalOperationFlag () const
bool	addCoreImuMeasurementAndGetState (const Eigen::Vector3d &linearAcc, const Eigen::Vector3d &angularVel, const double imuTimeK, std::shared_ptr< SafeIntegratedNavState > &returnPreIntegratedNavStatePtr, std::shared_ptr< SafeNavStateWithCovarianceAndBias > &returnOptimizedStateWithCovarianceAndBiasPtr, Eigen::Matrix< double, 6, 1 > &returnAddedImuMeasurements)
	Main: IMU --------------------—.
bool	addZeroMotionFactor (double timeKm1, double timeK, double noiseDensity)
bool	addZeroVelocityFactor (double timeK, double noiseDensity)
Public Member Functions inherited from holistic_fusion::HolisticFusionHolistic
	HolisticFusionHolistic ()
virtual	~HolisticFusionHolistic ()=default
void	addUnaryPose3AbsoluteMeasurement (const UnaryMeasurementXDAbsolute< Eigen::Isometry3d, 6 > &R_T_R_S, const bool addToOnlineSmootherFlag=true) override
	Unary Measurements / Absolute Measurements: In reference frame --> systematic drift.
void	addUnaryPosition3AbsoluteMeasurement (UnaryMeasurementXDAbsolute< Eigen::Vector3d, 3 > &R_t_R_S) override
void	addUnaryHeadingAbsoluteMeasurement (const UnaryMeasurementXDAbsolute< Eigen::Matrix3d, 1 > &R_M_S)
void	addUnaryVelocity3AbsoluteMeasurement (UnaryMeasurementXDAbsolute< Eigen::Vector3d, 3 > &R_v_R_S) override
void	addUnaryVelocity3LocalMeasurement (UnaryMeasurementXD< Eigen::Vector3d, 3 > &S_v_F_S) override
void	addUnaryVelocity3LocalMovingFrameMeasurement (UnaryMeasurementXD< Eigen::Vector3d, 3 > &S_v_F_S, const Eigen::Isometry3d &T_I_sensorFrame, const Eigen::Vector3d &I_w_W_I)
void	addUnaryPosition3LandmarkMeasurement (UnaryMeasurementXDLandmark< Eigen::Vector3d, 3 > &S_t_S_L, const int landmarkCreationCounter) override
	Landmark Measurements: No systematic drift.
void	addUnaryBearing3LandmarkMeasurement (UnaryMeasurementXDLandmark< Eigen::Vector3d, 3 > &S_bearing_S_L) override

Protected Member Functions
void	readParams (const ros::NodeHandle &privateNode) override
void	initializePublishers (ros::NodeHandle &privateNode) override
void	initializeSubscribers (ros::NodeHandle &privateNode) override
void	initializeMessages (ros::NodeHandle &privateNode) override
void	initializeServices (ros::NodeHandle &privateNode) override
void	imuCallback (const sensor_msgs::Imu::ConstPtr &imuPtr) override
Protected Member Functions inherited from holistic_fusion::HolisticFusionRos
virtual bool	srvOfflineSmootherOptimizeCallback (holistic_fusion_ros_msgs::OfflineOptimizationTrigger::Request &req, holistic_fusion_ros_msgs::OfflineOptimizationTrigger::Response &res)
bool	srvLogRealTimeNavStatesCallback (std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res)
virtual void	publishState (const std::shared_ptr< holistic_fusion::SafeIntegratedNavState > &integratedNavStatePtr, const std::shared_ptr< holistic_fusion::SafeNavStateWithCovarianceAndBias > &optimizedStateWithCovarianceAndBiasPtr)
void	publishNonTimeCriticalData (const Eigen::Matrix< double, 6, 6 > poseCovarianceRos, const Eigen::Matrix< double, 6, 6 > twistCovarianceRos, const Eigen::Vector3d positionVarianceRos, const Eigen::Vector3d orientationVarianceRos, const std::shared_ptr< const holistic_fusion::SafeIntegratedNavState > integratedNavStatePtr, const std::shared_ptr< const holistic_fusion::SafeNavStateWithCovarianceAndBias > optimizedStateWithCovarianceAndBiasPtr)
void	publishOptimizedStateAndBias (const std::shared_ptr< const holistic_fusion::SafeNavStateWithCovarianceAndBias > optimizedStateWithCovarianceAndBiasPtr, const Eigen::Matrix< double, 6, 6 > &poseCovarianceRos, const Eigen::Matrix< double, 6, 6 > &twistCovarianceRos)
void	publishTfTreeTransform (const std::string &frameName, const std::string &childFrameName, double timeStamp, const Eigen::Isometry3d &T_frame_childFrame)
void	publishImuOdoms (const std::shared_ptr< const holistic_fusion::SafeIntegratedNavState > &preIntegratedNavStatePtr, const Eigen::Matrix< double, 6, 6 > &poseCovarianceRos, const Eigen::Matrix< double, 6, 6 > &twistCovarianceRos) const
void	publishDiagVarianceVectors (const Eigen::Vector3d &posVarianceRos, const Eigen::Vector3d &rotVarianceRos, const double timeStamp) const
void	publishVelocityMarkers (const std::shared_ptr< const holistic_fusion::SafeIntegratedNavState > &navStatePtr) const
void	publishImuPaths (const std::shared_ptr< const holistic_fusion::SafeIntegratedNavState > &navStatePtr) const
void	publishAddedImuMeas (const Eigen::Matrix< double, 6, 1 > &addedImuMeas, const ros::Time &stamp) const
long	secondsSinceStart ()
Protected Member Functions inherited from holistic_fusion::HolisticFusion
template<int DIM>
bool	isCovarianceViolated_ (const Eigen::Matrix< double, DIM, 1 > &covariance, const double covarianceViolationThreshold)
	Convenience functions.
void	pretendFirstMeasurementReceived ()
bool	checkAndPrintCovarianceViolation_ (const std::string &measurementName, const bool violatedFlag)

Private Member Functions
void	lidarOdometryCallback_ (const nav_msgs::Odometry::ConstPtr &lidarOdomPtr)
void	wheelOdometryPoseCallback_ (const nav_msgs::Odometry::ConstPtr &wheelOdomPtr)
void	wheelLinearVelocitiesCallback_ (const std_msgs::Float64MultiArray::ConstPtr &wheelsSpeedsPtr)
void	vioOdometryCallback_ (const nav_msgs::Odometry::ConstPtr &vioOdomPtr)

Private Attributes
std::chrono::time_point< std::chrono::high_resolution_clock >	startTime_
std::chrono::time_point< std::chrono::high_resolution_clock >	currentTime_
double	lioOdometryRate_ = 5.0
double	wheelOdometryBetweenRate_ = 50.0
double	wheelLinearVelocitiesRate_ = 50.0
double	vioOdometryRate_ = 50.0
Eigen::Matrix< double, 6, 1 >	initialSe3AlignmentNoise_ = 1.0 * Eigen::Matrix<double, 6, 1>::Ones()
Eigen::Matrix< double, 6, 1 >	lioSe3AlignmentRandomWalk_ = 0.0 * Eigen::Matrix<double, 6, 1>::Ones()
Eigen::Matrix< double, 6, 1 >	lioPoseUnaryNoise_
Eigen::Matrix< double, 6, 1 >	wheelPoseBetweenNoise_
Eigen::Matrix< double, 3, 1 >	wheelLinearVelocitiesNoise_
Eigen::Matrix< double, 6, 1 >	vioPoseBetweenNoise_
int	wheelOdometryCallbackCounter_ = -1
Eigen::Isometry3d	T_O_Bw_km1_
double	wheelOdometryTimeKm1_ = 0.0
ros::Subscriber	subLioOdometry_
ros::Subscriber	subWheelOdometryBetween_
ros::Subscriber	subWheelLinearVelocities_
ros::Subscriber	subVioOdometry_
tf::TransformListener	tfListener_
ros::Publisher	pubMeasMapLioPath_
ros::Publisher	pubMeasMapVioPath_
nav_msgs::PathPtr	measLio_mapImuPathPtr_
nav_msgs::PathPtr	measVio_mapImuPathPtr_
bool	useLioOdometryFlag_ = true
bool	useWheelOdometryBetweenFlag_ = false
bool	useWheelLinearVelocitiesFlag_ = false
bool	useVioOdometryFlag_ = false
double	wheelRadiusMeter_ = 0.195

Additional Inherited Members
Static Protected Member Functions inherited from holistic_fusion::HolisticFusionRos
static void	addToPathMsg (const nav_msgs::PathPtr &pathPtr, const std::string &frameName, const ros::Time &stamp, const Eigen::Vector3d &t, int maxBufferLength)
static void	addToOdometryMsg (const nav_msgs::OdometryPtr &msgPtr, const std::string &fixedFrame, const std::string &movingFrame, const ros::Time &stamp, const Eigen::Isometry3d &T, const Eigen::Vector3d &W_v_W_F, const Eigen::Vector3d &W_w_W_F, const Eigen::Matrix< double, 6, 6 > &poseCovariance=Eigen::Matrix< double, 6, 6 >::Zero(), const Eigen::Matrix< double, 6, 6 > &twistCovariance=Eigen::Matrix< double, 6, 6 >::Zero())
static void	addToPoseWithCovarianceStampedMsg (const geometry_msgs::PoseWithCovarianceStampedPtr &msgPtr, const std::string &frameName, const ros::Time &stamp, const Eigen::Isometry3d &T, const Eigen::Matrix< double, 6, 6 > &transformCovariance=Eigen::Matrix< double, 6, 6 >::Zero())
static void	addToLandmarkMarkerArrayMsg (const visualization_msgs::MarkerArrayPtr &markerArrayPtr, const std::string &referenceFrameName, const ros::Time &stamp, const Eigen::Isometry3d &T_R_L, const std::string &transformName)
static void	extractCovariancesFromOptimizedState (Eigen::Matrix< double, 6, 6 > &poseCovarianceRos, Eigen::Matrix< double, 6, 6 > &twistCovarianceRos, const std::shared_ptr< holistic_fusion::SafeNavStateWithCovarianceAndBias > &optimizedStateWithCovarianceAndBiasPtr)
static void	createVelocityMarker (const std::string &referenceFrameName, const ros::Time &stamp, const Eigen::Vector3d &velocity, const Eigen::Vector3d &colorRgb, visualization_msgs::Marker &marker)
static void	createContactMarker (const std::string &referenceFrameName, const ros::Time &stamp, const Eigen::Vector3d &position, const std::string &nameSpace, const int id, const Eigen::Vector3d &colorRgb, visualization_msgs::Marker &marker)
Protected Attributes inherited from holistic_fusion::HolisticFusionRos
ros::NodeHandle	privateNode
std::chrono::time_point< std::chrono::high_resolution_clock >	startTime
std::chrono::time_point< std::chrono::high_resolution_clock >	currentTime
tf::TransformBroadcaster	tfBroadcaster
std::string	referenceFrameAlignedNameId = "_holistic_fusion_aligned"
std::string	sensorFrameCorrectedNameId = "_holistic_fusion_corrected"
std::string	optimizationResultLoggingPath = ""
Protected Attributes inherited from holistic_fusion::HolisticFusion
std::shared_ptr< GraphConfig >	graphConfigPtr_ = nullptr
std::shared_ptr< StaticTransforms >	staticTransformsPtr_ = nullptr
std::shared_ptr< GraphManager >	graphMgrPtr_ = nullptr
std::shared_ptr< holistic_fusion::ImuBuffer >	coreImuBufferPtr_
std::mutex	optimizeGraphMutex_
bool	alignedImuFlag_ = false
	Flags / Initialization.
bool	foundInitialYawAndPositionFlag_ = false
bool	initedGraphFlag_ = false
bool	validFirstMeasurementReceivedFlag_ = false
bool	optimizeGraphFlag_ = false
bool	normalOperationFlag_ = false
long	imuCallbackCounter_ = 0
std::unordered_set< std::string >	measurementsWithViolatedCovariance_

Detailed Description

Definition at line 30 of file SmbEstimator.h.

Constructor & Destructor Documentation

◆ SmbEstimator()

smb_se::SmbEstimator::SmbEstimator ( std::shared_ptr< ros::NodeHandle > privateNodePtr )

Definition at line 22 of file SmbEstimator.cpp.

◆ ~SmbEstimator()

smb_se::SmbEstimator::~SmbEstimator ( )

default

Member Function Documentation

◆ imuCallback()

void smb_se::SmbEstimator::imuCallback ( const sensor_msgs::Imu::ConstPtr & imuPtr )

overrideprotectedvirtual

Reimplemented from holistic_fusion::HolisticFusionRos.

Definition at line 108 of file SmbEstimator.cpp.

◆ initializeMessages()

void smb_se::SmbEstimator::initializeMessages ( ros::NodeHandle & privateNode )

overrideprotectedvirtual

Reimplemented from holistic_fusion::HolisticFusionRos.

Definition at line 98 of file SmbEstimator.cpp.

◆ initializePublishers()

void smb_se::SmbEstimator::initializePublishers ( ros::NodeHandle & privateNode )

overrideprotectedvirtual

Reimplemented from holistic_fusion::HolisticFusionRos.

Definition at line 61 of file SmbEstimator.cpp.

◆ initializeServices()

void smb_se::SmbEstimator::initializeServices ( ros::NodeHandle & privateNode )

overrideprotectedvirtual

Reimplemented from holistic_fusion::HolisticFusionRos.

Definition at line 104 of file SmbEstimator.cpp.

◆ initializeSubscribers()

void smb_se::SmbEstimator::initializeSubscribers ( ros::NodeHandle & privateNode )

overrideprotectedvirtual

Reimplemented from holistic_fusion::HolisticFusionRos.

Definition at line 67 of file SmbEstimator.cpp.

◆ lidarOdometryCallback_()

void smb_se::SmbEstimator::lidarOdometryCallback_ ( const nav_msgs::Odometry::ConstPtr & lidarOdomPtr )

private

Definition at line 131 of file SmbEstimator.cpp.

◆ readParams()

void smb_se::SmbEstimator::readParams ( const ros::NodeHandle & privateNode )

overrideprotectedvirtual

LiDAR Odometry

Wheel Odometry Between

Linear Velocities

VIO Odometry

LiDAR odometry frame

Wheel Odometry frame

Whel Linear Velocities frames Left

Right

VIO Odometry frame

Reimplemented from holistic_fusion::HolisticFusionRos.

Definition at line 20 of file readParams.cpp.

◆ setup()

void smb_se::SmbEstimator::setup ( )

Definition at line 33 of file SmbEstimator.cpp.

◆ vioOdometryCallback_()

void smb_se::SmbEstimator::vioOdometryCallback_ ( const nav_msgs::Odometry::ConstPtr & vioOdomPtr )

private

Definition at line 291 of file SmbEstimator.cpp.

◆ wheelLinearVelocitiesCallback_()

void smb_se::SmbEstimator::wheelLinearVelocitiesCallback_ ( const std_msgs::Float64MultiArray::ConstPtr & wheelsSpeedsPtr )

private

Definition at line 235 of file SmbEstimator.cpp.

◆ wheelOdometryPoseCallback_()

void smb_se::SmbEstimator::wheelOdometryPoseCallback_ ( const nav_msgs::Odometry::ConstPtr & wheelOdomPtr )

private

Definition at line 177 of file SmbEstimator.cpp.

Member Data Documentation

◆ currentTime_

std::chrono::time_point<std::chrono::high_resolution_clock> smb_se::SmbEstimator::currentTime_

private

Definition at line 50 of file SmbEstimator.h.

◆ initialSe3AlignmentNoise_

Eigen::Matrix<double, 6, 1> smb_se::SmbEstimator::initialSe3AlignmentNoise_ = 1.0 * Eigen::Matrix<double, 6, 1>::Ones()

private

Definition at line 61 of file SmbEstimator.h.

◆ lioOdometryRate_

double smb_se::SmbEstimator::lioOdometryRate_ = 5.0

private

Definition at line 55 of file SmbEstimator.h.

◆ lioPoseUnaryNoise_

Eigen::Matrix<double, 6, 1> smb_se::SmbEstimator::lioPoseUnaryNoise_

private

Definition at line 66 of file SmbEstimator.h.

◆ lioSe3AlignmentRandomWalk_

Eigen::Matrix<double, 6, 1> smb_se::SmbEstimator::lioSe3AlignmentRandomWalk_ = 0.0 * Eigen::Matrix<double, 6, 1>::Ones()

private

Definition at line 62 of file SmbEstimator.h.

◆ measLio_mapImuPathPtr_

nav_msgs::PathPtr smb_se::SmbEstimator::measLio_mapImuPathPtr_

private

Definition at line 111 of file SmbEstimator.h.

◆ measVio_mapImuPathPtr_

nav_msgs::PathPtr smb_se::SmbEstimator::measVio_mapImuPathPtr_

private

Definition at line 112 of file SmbEstimator.h.

◆ pubMeasMapLioPath_

ros::Publisher smb_se::SmbEstimator::pubMeasMapLioPath_

private

Definition at line 107 of file SmbEstimator.h.

◆ pubMeasMapVioPath_

ros::Publisher smb_se::SmbEstimator::pubMeasMapVioPath_

private

Definition at line 108 of file SmbEstimator.h.

◆ startTime_

std::chrono::time_point<std::chrono::high_resolution_clock> smb_se::SmbEstimator::startTime_

private

Definition at line 49 of file SmbEstimator.h.

◆ subLioOdometry_

ros::Subscriber smb_se::SmbEstimator::subLioOdometry_

private

Definition at line 95 of file SmbEstimator.h.

◆ subVioOdometry_

ros::Subscriber smb_se::SmbEstimator::subVioOdometry_

private

Definition at line 101 of file SmbEstimator.h.

◆ subWheelLinearVelocities_

ros::Subscriber smb_se::SmbEstimator::subWheelLinearVelocities_

private

Definition at line 99 of file SmbEstimator.h.

◆ subWheelOdometryBetween_

ros::Subscriber smb_se::SmbEstimator::subWheelOdometryBetween_

private

Definition at line 97 of file SmbEstimator.h.

◆ T_O_Bw_km1_

Eigen::Isometry3d smb_se::SmbEstimator::T_O_Bw_km1_

private

Definition at line 89 of file SmbEstimator.h.

◆ tfListener_

tf::TransformListener smb_se::SmbEstimator::tfListener_

private

Definition at line 103 of file SmbEstimator.h.

◆ useLioOdometryFlag_

bool smb_se::SmbEstimator::useLioOdometryFlag_ = true

private

Definition at line 115 of file SmbEstimator.h.

◆ useVioOdometryFlag_

bool smb_se::SmbEstimator::useVioOdometryFlag_ = false

private

Definition at line 118 of file SmbEstimator.h.

◆ useWheelLinearVelocitiesFlag_

bool smb_se::SmbEstimator::useWheelLinearVelocitiesFlag_ = false

private

Definition at line 117 of file SmbEstimator.h.

◆ useWheelOdometryBetweenFlag_

bool smb_se::SmbEstimator::useWheelOdometryBetweenFlag_ = false

private

Definition at line 116 of file SmbEstimator.h.

◆ vioOdometryRate_

double smb_se::SmbEstimator::vioOdometryRate_ = 50.0

private

Definition at line 58 of file SmbEstimator.h.

◆ vioPoseBetweenNoise_

Eigen::Matrix<double, 6, 1> smb_se::SmbEstimator::vioPoseBetweenNoise_

private

Definition at line 73 of file SmbEstimator.h.

◆ wheelLinearVelocitiesNoise_

Eigen::Matrix<double, 3, 1> smb_se::SmbEstimator::wheelLinearVelocitiesNoise_

private

Definition at line 71 of file SmbEstimator.h.

◆ wheelLinearVelocitiesRate_

double smb_se::SmbEstimator::wheelLinearVelocitiesRate_ = 50.0

private

Definition at line 57 of file SmbEstimator.h.

◆ wheelOdometryBetweenRate_

double smb_se::SmbEstimator::wheelOdometryBetweenRate_ = 50.0

private

Definition at line 56 of file SmbEstimator.h.

◆ wheelOdometryCallbackCounter_

int smb_se::SmbEstimator::wheelOdometryCallbackCounter_ = -1

private

Definition at line 88 of file SmbEstimator.h.

◆ wheelOdometryTimeKm1_

double smb_se::SmbEstimator::wheelOdometryTimeKm1_ = 0.0

private

Definition at line 90 of file SmbEstimator.h.

◆ wheelPoseBetweenNoise_

Eigen::Matrix<double, 6, 1> smb_se::SmbEstimator::wheelPoseBetweenNoise_

private

Definition at line 69 of file SmbEstimator.h.

◆ wheelRadiusMeter_

double smb_se::SmbEstimator::wheelRadiusMeter_ = 0.195

private

Definition at line 121 of file SmbEstimator.h.

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

ros/examples/smb_estimator_graph/include/smb_estimator_graph/SmbEstimator.h
ros/examples/smb_estimator_graph/src/lib/readParams.cpp
ros/examples/smb_estimator_graph/src/lib/SmbEstimator.cpp

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SmbEstimator()

◆ ~SmbEstimator()

Member Function Documentation

◆ imuCallback()

◆ initializeMessages()

◆ initializePublishers()

◆ initializeServices()

◆ initializeSubscribers()

◆ lidarOdometryCallback_()

◆ readParams()

◆ setup()

◆ vioOdometryCallback_()

◆ wheelLinearVelocitiesCallback_()

◆ wheelOdometryPoseCallback_()

Member Data Documentation

◆ currentTime_

◆ initialSe3AlignmentNoise_

◆ lioOdometryRate_

◆ lioPoseUnaryNoise_

◆ lioSe3AlignmentRandomWalk_

◆ measLio_mapImuPathPtr_

◆ measVio_mapImuPathPtr_

◆ pubMeasMapLioPath_

◆ pubMeasMapVioPath_

◆ startTime_

◆ subLioOdometry_

◆ subVioOdometry_

◆ subWheelLinearVelocities_

◆ subWheelOdometryBetween_

◆ T_O_Bw_km1_

◆ tfListener_

◆ useLioOdometryFlag_

◆ useVioOdometryFlag_

◆ useWheelLinearVelocitiesFlag_

◆ useWheelOdometryBetweenFlag_

◆ vioOdometryRate_

◆ vioPoseBetweenNoise_

◆ wheelLinearVelocitiesNoise_

◆ wheelLinearVelocitiesRate_

◆ wheelOdometryBetweenRate_

◆ wheelOdometryCallbackCounter_

◆ wheelOdometryTimeKm1_

◆ wheelPoseBetweenNoise_

◆ wheelRadiusMeter_