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

#include <UnaryMeasurementXD.h>

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

[legend]

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

[legend]

Public Member Functions
	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
std::string	summary () const override
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 ()
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
MEASUREMENT_TYPE	unaryMeasurement_
Eigen::Matrix< double, DIM, 1 >	unaryMeasurementNoiseDensity_
Eigen::Matrix< double, DIM, 1 >	unaryMeasurementNoiseVariances_
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 UnaryMeasurementXD &unaryMeasurementXD)

Detailed Description

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

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

Description: This class is used to represent x-dimensional 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 25 of file UnaryMeasurementXD.h.

Constructor & Destructor Documentation

◆ UnaryMeasurementXD()

template<class MEASUREMENT_TYPE, int DIM>

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 )

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.
unaryMeasurement	The templated unary measurement.
unaryMeasurementNoiseDensity	The noise density of the unary measurement.

Definition at line 36 of file UnaryMeasurementXD.h.

◆ ~UnaryMeasurementXD()

template<class MEASUREMENT_TYPE, int DIM>

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

overridedefault

Member Function Documentation

◆ lv_unaryMeasurement()

template<class MEASUREMENT_TYPE, int DIM>

MEASUREMENT_TYPE & holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::lv_unaryMeasurement ( )

inline

Definition at line 71 of file UnaryMeasurementXD.h.

◆ summary()

template<class MEASUREMENT_TYPE, int DIM>

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

inlineoverridevirtual

Reimplemented from holistic_fusion::UnaryMeasurement.

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

Definition at line 50 of file UnaryMeasurementXD.h.

◆ unaryMeasurement() [1/2]

template<class MEASUREMENT_TYPE, int DIM>

MEASUREMENT_TYPE & holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurement ( )

inline

Definition at line 65 of file UnaryMeasurementXD.h.

◆ unaryMeasurement() [2/2]

template<class MEASUREMENT_TYPE, int DIM>

const MEASUREMENT_TYPE & holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurement ( ) const

inline

Definition at line 64 of file UnaryMeasurementXD.h.

◆ unaryMeasurementNoiseCovariance()

template<class MEASUREMENT_TYPE, int DIM>

const Eigen::Matrix< double, DIM, DIM > holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurementNoiseCovariance ( ) const

inline

Definition at line 68 of file UnaryMeasurementXD.h.

◆ unaryMeasurementNoiseDensity()

template<class MEASUREMENT_TYPE, int DIM>

const Eigen::Matrix< double, DIM, 1 > & holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurementNoiseDensity ( ) const

inline

Definition at line 66 of file UnaryMeasurementXD.h.

◆ unaryMeasurementNoiseVariances()

template<class MEASUREMENT_TYPE, int DIM>

const Eigen::Matrix< double, DIM, 1 > & holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurementNoiseVariances ( ) const

inline

Definition at line 67 of file UnaryMeasurementXD.h.

◆ operator<<

template<class MEASUREMENT_TYPE, int DIM>

std::ostream & operator<<	(	std::ostream &	os,
		const UnaryMeasurementXD< MEASUREMENT_TYPE, DIM > &	unaryMeasurementXD )

friend

Definition at line 58 of file UnaryMeasurementXD.h.

Member Data Documentation

◆ unaryMeasurement_

template<class MEASUREMENT_TYPE, int DIM>

MEASUREMENT_TYPE holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurement_

protected

Definition at line 74 of file UnaryMeasurementXD.h.

◆ unaryMeasurementNoiseDensity_

template<class MEASUREMENT_TYPE, int DIM>

Eigen::Matrix<double, DIM, 1> holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurementNoiseDensity_

protected

Definition at line 75 of file UnaryMeasurementXD.h.

◆ unaryMeasurementNoiseVariances_

template<class MEASUREMENT_TYPE, int DIM>

Eigen::Matrix<double, DIM, 1> holistic_fusion::UnaryMeasurementXD< MEASUREMENT_TYPE, DIM >::unaryMeasurementNoiseVariances_

protected

Definition at line 76 of file UnaryMeasurementXD.h.

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

holistic_fusion/include/holistic_fusion/measurements/UnaryMeasurementXD.h

Public Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ UnaryMeasurementXD()

◆ ~UnaryMeasurementXD()

Member Function Documentation

◆ lv_unaryMeasurement()

◆ summary()

◆ unaryMeasurement() [1/2]

◆ unaryMeasurement() [2/2]

◆ unaryMeasurementNoiseCovariance()

◆ unaryMeasurementNoiseDensity()

◆ unaryMeasurementNoiseVariances()

Friends And Related Symbol Documentation

◆ operator<<

Member Data Documentation

◆ unaryMeasurement_

◆ unaryMeasurementNoiseDensity_

◆ unaryMeasurementNoiseVariances_