Implements Extended Kalman Filter as an estimator within the ROS framework. More...

Inheritance diagram for EKFEstimator:

Collaboration diagram for EKFEstimator:

Public Member Functions
	EKFEstimator ()
	Constructor for EKFEstimator.

void	init (ros::NodeHandle &nh)
	Initialize EKF.

bool	updateOnce (quad_msgs::RobotState &last_robot_state_msg_)
	Perform EKF update once.

Public Member Functions inherited from StateEstimator
	StateEstimator ()
	Constructor for StateEstimator.

void	readIMU (const sensor_msgs::Imu::ConstPtr &last_imu_msg, Eigen::Vector3d &fk, Eigen::Vector3d &wk, Eigen::Quaterniond &qk)
	Read IMU data.

void	readJointEncoder (const sensor_msgs::JointState::ConstPtr &last_joint_state_msg, Eigen::VectorXd &jk)
	Read joint encoder data.

void	loadMocapMsg (geometry_msgs::PoseStamped::ConstPtr last_mocap_msg)
	Load Mocap data to protected variable.

void	loadSensorMsg (sensor_msgs::Imu last_imu_msg, sensor_msgs::JointState last_joint_state_msg)
	Load imu and joint encoder data to protected variables.

Additional Inherited Members
Protected Attributes inherited from StateEstimator
quad_msgs::RobotState	state_est_
	Last state estimate.

std::shared_ptr< quad_utils::QuadKD >	quadKD_
	QuadKD class.

geometry_msgs::PoseStamped::ConstPtr	last_mocap_msg_
	Last mocap data.

sensor_msgs::Imu	last_imu_msg_
	Most recent IMU data.

sensor_msgs::JointState	last_joint_state_msg_
	Most recent joint data.

Detailed Description

Implements Extended Kalman Filter as an estimator within the ROS framework.

Constructor & Destructor Documentation

EKFEstimator::EKFEstimator ( )

Constructor for EKFEstimator.

void EKFEstimator::init ( ros::NodeHandle & nh )

virtual

Initialize EKF.

Parameters

[in] nh Node Handler to load parameters from yaml file

bool EKFEstimator::updateOnce ( quad_msgs::RobotState & last_robot_state_msg_ )

virtual

Perform EKF update once.

Parameters

[out] last_robot_state_msg_

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