gcop::KinRccarPath Class Reference

#include <kinrccarpath.h>

Collaboration diagram for gcop::KinRccarPath:

List of all members.

Public Member Functions
	KinRccarPath (KinRccar &sys, bool wheel_odometry=false, bool yaw_odometry=false, bool forces=false, bool estimate_length=false)
virtual void	AddControl (const Vector2d &u, const Vector2d &v, double h)
virtual void	AddObservation (const vector< pair< int, Vector3d > > &z, Matrix4d cam_transform=MatrixXd::Identity(4, 4))
Public Attributes
KinRccar &	sys
	system
bool	wheel_odometry
bool	yaw_odometry
bool	extforce
	is there a constant external force that need to be estimated
bool	forces
	is there a constant external force that need to be estimated
bool	estimate_length
	should the length of the car be tracked as a parameter
vector< double >	ts
	sequence of times (N+1 vector)
vector< Matrix4d >	xs
	sequence of states x=(g,v) (N+1 vector)
vector< Vector2d >	us
	sequence of inputs (N vector)
vector< Vector2d >	vs
	sequence of odometry (N vector)
vector< Matrix4d >	xos
	unoptimized trajectory
vector< Vector2d >	uos
	unoptimized trajectory
VectorXd	p
	observed landmark positions (2*m vector) and external force parameters (2 vector)
vector< vector< pair< int, Vector3d > > >	zs
	vector of vectors of landmark observations
double	cp
	noise covariance of poses (assume spherical)
Vector2d	cv
	noise covariance of odometry/gyro (assume diagonal)
Vector2d	cw
	noise covariance of control forces (assume diagonal)

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Detailed Description

Kinematic RC Car Pose-track in 3D. Tracks odometry, controls, and landmarks.

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Constructor & Destructor Documentation

gcop::KinRccarPath::KinRccarPath	(	KinRccar &	sys,
		bool	wheel_odometry = false,
		bool	yaw_odometry = false,
		bool	forces = false,
		bool	estimate_length = false
	)

Pose graph (using given features)

Parameters:

sys	body3d system
odometry	is odometry available
forces	use uncertain forces in the cost function

References cp, cv, cw, p, ts, xos, and xs.

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Member Function Documentation

void gcop::KinRccarPath::AddControl	(	const Vector2d &	u,
		const Vector2d &	v,
		double	h
	)		[virtual]

References gcop::KinRccar::Step(), sys, ts, uos, us, vs, xos, xs, and zs.

void gcop::KinRccarPath::AddObservation	(	const vector< pair< int, Vector3d > > &	z,
		Matrix4d	cam_transform = MatrixXd::Identity(4,4)
	)		[virtual]

References estimate_length, extforce, p, xs, and zs.

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Member Data Documentation

double gcop::KinRccarPath::cp

noise covariance of poses (assume spherical)

Referenced by KinRccarPath(), and gcop::KinRccarPathCost::L().

Vector2d gcop::KinRccarPath::cv

noise covariance of odometry/gyro (assume diagonal)

Referenced by KinRccarPath(), and gcop::KinRccarPathCost::L().

Vector2d gcop::KinRccarPath::cw

noise covariance of control forces (assume diagonal)

Referenced by KinRccarPath(), and gcop::KinRccarPathCost::L().

bool gcop::KinRccarPath::estimate_length

should the length of the car be tracked as a parameter

Referenced by AddObservation(), and gcop::KinRccarPathCost::L().

bool gcop::KinRccarPath::extforce

is there a constant external force that need to be estimated

Referenced by AddObservation(), and gcop::KinRccarPathCost::L().

bool gcop::KinRccarPath::forces

is there a constant external force that need to be estimated

Referenced by gcop::KinRccarPathCost::L().

VectorXd gcop::KinRccarPath::p

observed landmark positions (2*m vector) and external force parameters (2 vector)

Referenced by AddObservation(), and KinRccarPath().

KinRccar& gcop::KinRccarPath::sys

system

Referenced by AddControl(), and gcop::KinRccarPathCost::L().

vector<double> gcop::KinRccarPath::ts

sequence of times (N+1 vector)

Referenced by AddControl(), and KinRccarPath().

vector<Vector2d> gcop::KinRccarPath::uos

unoptimized trajectory

Referenced by AddControl(), and gcop::KinRccarPathCost::L().

vector<Vector2d> gcop::KinRccarPath::us

sequence of inputs (N vector)

Referenced by AddControl().

vector<Vector2d> gcop::KinRccarPath::vs

sequence of odometry (N vector)

Referenced by AddControl(), and gcop::KinRccarPathCost::L().

bool gcop::KinRccarPath::wheel_odometry

Referenced by gcop::KinRccarPathCost::L().

vector<Matrix4d> gcop::KinRccarPath::xos

unoptimized trajectory

Referenced by AddControl(), and KinRccarPath().

vector<Matrix4d> gcop::KinRccarPath::xs

sequence of states x=(g,v) (N+1 vector)

Referenced by AddControl(), AddObservation(), and KinRccarPath().

bool gcop::KinRccarPath::yaw_odometry

Referenced by gcop::KinRccarPathCost::L().

vector< vector<pair<int, Vector3d> > > gcop::KinRccarPath::zs

vector of vectors of landmark observations

Referenced by AddControl(), AddObservation(), and gcop::KinRccarPathCost::L().

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

• lib/systems/kinrccarpath.h