Template Class LocalizationFilter¶
Defined in File localization-filter.h
Class Documentation¶
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template<class
T
>
classmaplab
::
LocalizationFilter
¶ Public Functions
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LocalizationFilter
()¶ Constructor.
The RosFilter constructor makes sure that anyone using this template is doing so with the correct object type
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~LocalizationFilter
()¶ Destructor.
Clears out the message filters and topic subscribers.
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void
reset
()¶ Resets the filter to its initial state.
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void
initialize
(const common::LocalizationResult &T_G_M_init, const aslam::Transformation &T_M_B)¶
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bool
localizationCallback
(const common::LocalizationResult &localization, const vio::ViNodeState &T_M_B_buffered)¶ Callback method for receiving all localization messages.
- Parameters
[in] localization
: - The Localization Result from world - base_link[in] T_M_B_buffered
: - The odometry estimate from mission - base_link
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inline int64_t
getLastMessageTimeNs
()¶
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void
getFusedLocalization
(common::LocalizationResult *fused_localization_result) const¶
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inline bool
isInitialized
() const¶
Protected Functions
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void
localizationResultToMeasurement
(const common::LocalizationResult &msg, LocalizationFilterMeasurement &localization_G_B)¶ Converts a localization result for integration into the filter.
- Parameters
[in] msg
: - The localization message to prepare[out] localization_G_B
: - The localization in the desired format (base_link - global)
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void
aslamTransformationToStateVector
(const aslam::Transformation &transformation, Eigen::VectorXd &state_vector) const¶
Protected Attributes
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std::atomic<int64_t>
last_message_time_
¶
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common::LocalizationMode
localization_mode_
¶
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std::vector<size_t>
update_vector_
¶ Which entries of the filter state are being updated by a measurement.
Currently set to true for all of them, but might be useful for extensions of the filter state later on.
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