mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator Class Reference

The filter that estimates and extrapolates the robot pose from odometry and localization data The implemented model is a state vector:

• (x,y,phi,v,w) for the robot pose (x,y,phi) and velocities (v,w).

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List of all members.

Classes
struct	TOptions
Public Member Functions
	CRobotStateEstimator ()
	Default constructor.
virtual	~CRobotStateEstimator ()
	Destructor.
void	reset ()
void	processUpdateNewPoseLocalization (const TPose2D &newPose, const CMatrixDouble33 &newPoseCov, TTimeStamp cur_tim)
	Updates the filter so the pose is tracked to the current time.
void	processUpdateNewOdometry (const TPose2D &newGlobalOdometry, TTimeStamp cur_tim, bool hasVelocities=false, float v=0, float w=0)
	Updates the filter so the pose is tracked to the current time.
bool	getCurrentEstimate (TPose2D &pose, float &v, float &w, TTimeStamp tim_query=mrpt::system::now())
	Get the current estimate, obtained as:.
Public Attributes
TOptions	params
	parameters of the filter.
Static Private Member Functions
static void	extrapolateRobotPose (const TPose2D &p, const float v, const float w, const double delta_time, TPose2D &new_p)
	An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time".
Private Attributes
mrpt::synch::CCriticalSection	m_cs
TTimeStamp	m_last_loc_time
TPose2D	m_last_loc
	Last pose as estimated by the localization/SLAM subsystem.
CMatrixDouble33	m_last_loc_cov
TPose2D	m_loc_odo_ref
	The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings).
TTimeStamp	m_last_odo_time
TPose2D	m_last_odo
float	m_robot_v
float	m_robot_w

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Detailed Description

The filter that estimates and extrapolates the robot pose from odometry and localization data The implemented model is a state vector:

• (x,y,phi,v,w) for the robot pose (x,y,phi) and velocities (v,w).

The filter can be asked for an extrapolation for some arbitrary time "t'", and it'll do a simple linear prediction. All methods are thread-safe.

Definition at line 293 of file CPRRTNavigator.h.

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Constructor & Destructor Documentation

mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::CRobotStateEstimator

(

)

Default constructor.

virtual mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::~CRobotStateEstimator

(

)

[virtual]

Destructor.

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Member Function Documentation

static void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::extrapolateRobotPose	(	const TPose2D &	p,
		const float	v,
		const float	w,
		const double	delta_time,
		TPose2D &	new_p
	)			[static, private]

An auxiliary method to extrapolate the pose of a robot located at "p" with velocities (v,w) after a time delay "delta_time".

bool mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::getCurrentEstimate	(	TPose2D &	pose,
		float &	v,
		float &	w,
		TTimeStamp	tim_query = mrpt::system::now()
	)

Get the current estimate, obtained as:.

last_loc (+) [ last_odo (-) odo_ref ] (+) extrapolation_from_vw

Returns:

true is the estimate can be trusted. False if the real observed data is too old or there is no valid data yet.

void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::processUpdateNewOdometry	(	const TPose2D &	newGlobalOdometry,
		TTimeStamp	cur_tim,
		bool	hasVelocities = false,
		float	v = 0,
		float	w = 0
	)

Updates the filter so the pose is tracked to the current time.

void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::processUpdateNewPoseLocalization	(	const TPose2D &	newPose,
		const CMatrixDouble33 &	newPoseCov,
		TTimeStamp	cur_tim
	)

Updates the filter so the pose is tracked to the current time.

void mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::reset

(

)

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Member Data Documentation

mrpt::synch::CCriticalSection mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_cs [private]

Definition at line 336 of file CPRRTNavigator.h.

TPose2D mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_loc [private]

Last pose as estimated by the localization/SLAM subsystem.

Definition at line 339 of file CPRRTNavigator.h.

CMatrixDouble33 mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_loc_cov [private]

Definition at line 340 of file CPRRTNavigator.h.

TTimeStamp mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_loc_time [private]

Definition at line 338 of file CPRRTNavigator.h.

TPose2D mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_odo [private]

Definition at line 345 of file CPRRTNavigator.h.

TTimeStamp mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_last_odo_time [private]

Definition at line 344 of file CPRRTNavigator.h.

TPose2D mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_loc_odo_ref [private]

The interpolated odometry position for the last "m_robot_pose" (used as "coordinates base" for subsequent odo readings).

Definition at line 342 of file CPRRTNavigator.h.

float mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_robot_v [private]

Definition at line 346 of file CPRRTNavigator.h.

float mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::m_robot_w [private]

Definition at line 347 of file CPRRTNavigator.h.

TOptions mrpt::reactivenav::CPRRTNavigator::CRobotStateEstimator::params

parameters of the filter.

Definition at line 333 of file CPRRTNavigator.h.