Template Class EKFSensorFusion¶

Defined in File ekf_sensor_fusion.h

Class Documentation¶

template<typename MotionModelType, typename ObservationModelType> class EKFSensorFusion¶

Public Types

typedef MotionModelType motion_model_type¶

typedef ObservationModelType observation_model_type¶

typedef DynMat<real_t> matrix_type¶

typedef std::string topic_type¶

Public Functions

EKFSensorFusion(motion_model_type &motion_model, observation_model_type &observation_model)¶

~EKFSensorFusion()¶

void step(real_t dt)¶

EKFSensorFusion &with_matrix(const std::string &name, const matrix_type &mat)¶

std::optional<std::string> read_from_topic(const topic_type &topic, std::chrono::milliseconds timeout = std::chrono::milliseconds(1000))¶

void add_input_topic(const std::string &mqtt_url, const topic_type &topic)¶

void add_sensor_topic(const std::string &mqtt_url, const topic_type &topic, SensorTypeEnum sensor_type)¶

void add_sensor_noise(const topic_type &topic, const DynMat<real_t> &noise)¶

Add the modelled sensor noise

Parameters:

topic –
noise –

void predict(real_t dt, const std::string &input_message, const std::string &sensor_message, const topic_type &topic)¶

Predict the next state

Parameters:: dt –

void update(real_t dr, const std::string &sensor_message, const topic_type &topic)¶

const matrix_type &operator[](const std::string &name) const¶: Returns the name-th matrix.

matrix_type &operator[](const std::string &name)¶: Returns the name-th matrix.

bool has_matrix(const std::string &name) const¶: Returns true if the matrix with the given name exists.