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imu_integrator::ImuIntegrator Class Reference
#include <ImuIntegrator.h>
Inheritance diagram for imu_integrator::ImuIntegrator:
Collaboration diagram for imu_integrator::ImuIntegrator:
Public Member Functions | |
| ImuIntegrator (std::shared_ptr< ros::NodeHandle > privateNodePtr) | |
| 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 |
Private Member Functions | |
| void | imuCallback (const sensor_msgs::Imu::ConstPtr &imuPtr) override |
Additional Inherited Members | |
| Protected Member Functions inherited from holistic_fusion::HolisticFusionRos | |
| virtual void | initializePublishers (ros::NodeHandle &privateNode) |
| virtual void | initializeSubscribers (ros::NodeHandle &privateNode) |
| virtual void | initializeMessages (ros::NodeHandle &privateNode) |
| virtual void | initializeServices (ros::NodeHandle &privateNode) |
| virtual void | readParams (const ros::NodeHandle &privateNode) |
| 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) |
| 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 31 of file ImuIntegrator.h.
Constructor & Destructor Documentation
◆ ImuIntegrator()
| imu_integrator::ImuIntegrator::ImuIntegrator | ( | std::shared_ptr< ros::NodeHandle > | privateNodePtr | ) |
Definition at line 13 of file ImuIntegrator.cpp.
Member Function Documentation
◆ imuCallback()
|
overrideprivatevirtual |
Reimplemented from holistic_fusion::HolisticFusionRos.
Definition at line 20 of file ImuIntegrator.cpp.
The documentation for this class was generated from the following files:
- ros/examples/pure_imu_integration/include/pure_imu_integration/ImuIntegrator.h
- ros/examples/pure_imu_integration/src/lib/ImuIntegrator.cpp
