StateEstimator Class Reference

#include <state_estimator.h>

Inheritance diagram for StateEstimator:

Public Member Functions
	StateEstimator ()
	Constructor for StateEstimator.
virtual void	init (ros::NodeHandle &nh)=0
	Virtual function for initialize filters, should be defined in derived class.
virtual bool	updateOnce (quad_msgs::RobotState &last_robot_state_msg)=0
	Virtual update function for update robot state, should be defined in derived class.
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.

Protected Attributes
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 an abstract class for state estimator. This class provides an interface for different types of estimators

StateEstimator provides an abstract state estimator class

Constructor & Destructor Documentation

StateEstimator()

StateEstimator::StateEstimator

(

)

Constructor for StateEstimator.

Returns

Constructed object of type StateEstimator

Member Function Documentation

init()

virtual void StateEstimator::init ( ros::NodeHandle &  nh )

pure virtual

Virtual function for initialize filters, should be defined in derived class.

Parameters

[in]

nh_

ROS Node Ha

Implemented in CompFilterEstimator, and EKFEstimator.

loadMocapMsg()

void StateEstimator::loadMocapMsg

(

geometry_msgs::PoseStamped::ConstPtr

last_mocap_msg

)

Load Mocap data to protected variable.

Parameters

[in]

last_mocap_msg

Mocap message

loadSensorMsg()

void StateEstimator::loadSensorMsg	(	sensor_msgs::Imu	last_imu_msg,
		sensor_msgs::JointState	last_joint_state_msg
	)

Load imu and joint encoder data to protected variables.

Parameters

[in]	last_imu_msg	imu msgs
[in]	last_joint_state_msg	joint state msgs

readIMU()

void StateEstimator::readIMU	(	const sensor_msgs::Imu::ConstPtr &	last_imu_msg,
		Eigen::Vector3d &	fk,
		Eigen::Vector3d &	wk,
		Eigen::Quaterniond &	qk
	)

Read IMU data.

Parameters

[in]	last_imu_msg	IMU sensor message
[out]	fk	Linear acceleration
[out]	wk	Angular acceleration
[out]	qk	Orientation in quaternion

readJointEncoder()

void StateEstimator::readJointEncoder	(	const sensor_msgs::JointState::ConstPtr &	last_joint_state_msg,
		Eigen::VectorXd &	jk
	)

Read joint encoder data.

Parameters

[in]	last_joint_state_msg	Joint state sensor message
[out]	jk	Jointstate in vector (12 * 1)

updateOnce()

virtual bool StateEstimator::updateOnce ( quad_msgs::RobotState &  last_robot_state_msg )

pure virtual

Virtual update function for update robot state, should be defined in derived class.

Parameters

[out]

last_robot_state_msg

robot state

Implemented in CompFilterEstimator, and EKFEstimator.

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

• robot_driver/include/robot_driver/estimators/state_estimator.h
• robot_driver/src/estimators/state_estimator.cpp