gcop::Kinbody3dTrack< _nu > Class Template Reference

#include <kinbody3dtrack.h>

Inheritance diagram for gcop::Kinbody3dTrack< _nu >:

List of all members.

Public Types
typedef Matrix< double, _nu, 1 >	Vectorud
typedef Matrix< double, 6, 1 >	Vector6d
Public Member Functions
	Kinbody3dTrack (Kinbody3d< _nu > &sys, int nf, double vd0, double t0, double tf, double r=25, bool extforce=false, bool forces=false)
virtual void	Get (Matrix4d &x, double vd, double t) const
virtual void	MakeTrue ()
virtual void	Add (const Vectorud &u, const Matrix4d &x, double h)
virtual void	Add2 (const Vectorud &u, const Matrix4d &x, double h)
Public Attributes
Kinbody3d< _nu > &	sys
	system
double	t0
	initial time around track
double	tf
	final time around track
double	r
	track radius
double	w
	track width
double	h
	track height
double	dmax
	sensor radius
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
vector< double >	ts
	sequence of times (N+1 vector)
vector< Matrix4d >	xs
	sequence of states x=(g,v) (N+1 vector)
vector< Vectorud >	us
	sequence of inputs (N vector)
vector< Vector3d >	ls
	landmark positions
vector< bool >	observed
	was it observed
vector< Matrix4d >	xos
	unoptimized trajectory
vector< Vectorud >	uos
	unoptimized trajectory
bool	init
VectorXd	p
	observed landmark positions (2*m vector) and external force parameters (2 vector)
vector< int >	pis
	observed landmark indices (m vector)
double	pr
	feature radius
vector< vector< pair< int, Vector3d > > >	Is
	N+1-vector of vectors of visible pose-to-feature indices.
vector< vector< pair< int, Vector3d > > >	Js
	nf-vector of vectors of feature-to-pose indices indices
vector< int >	cis
	if observed then this should map into the corresponding value in p
double	cp
	noise covariance of poses (assume spherical)
Vector6d	cv
	noise covariance of odometry/gyro (assume diagonal)
Vectorud	cw
	noise covariance of control forces (assume diagonal)

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Detailed Description

template<int _nu = 6>
class gcop::Kinbody3dTrack< _nu >

Pose-track in 2D. This is the simplese possible definition assuming point (unprojected) features e.g. from stereo/laser scans with uniform spherical covariance. The framework can be easily extended to any general 2d/3d non-uniform or projected features as well.

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Member Typedef Documentation

template<int _nu = 6>

typedef Matrix<double, 6, 1> gcop::Kinbody3dTrack< _nu >::Vector6d

template<int _nu = 6>

typedef Matrix<double, _nu, 1> gcop::Kinbody3dTrack< _nu >::Vectorud

Reimplemented in gcop::KinbodyProjTrack< _nu >.

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Constructor & Destructor Documentation

template<int _nu>

gcop::Kinbody3dTrack< _nu >::Kinbody3dTrack	(	Kinbody3d< _nu > &	sys,
		int	nf,
		double	vd0,
		double	t0,
		double	tf,
		double	r = 25,
		bool	extforce = false,
		bool	forces = false
	)

Pose graph (using simulated features around a circular track)

Parameters:

sys	body3d system
nf	number of features (landmarks)
t0	start time
tf	end time
r	radius
odometry	is odometry available
extforce	treat constant external force in x-y as a parameter
forces	use uncertain forces in the cost function

References gcop::Kinbody3dTrack< _nu >::cw, gcop::Kinbody3dTrack< _nu >::Get(), gcop::Kinbody3dTrack< _nu >::xos, and gcop::Kinbody3dTrack< _nu >::xs.

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Member Function Documentation

template<int _nu>

void gcop::Kinbody3dTrack< _nu >::Add	(	const Vectorud &	u,
		const Matrix4d &	x,
		double	h
	)		[virtual]

Reimplemented in gcop::KinbodyProjTrack< _nu >.

References gcop::random_normal().

template<int _nu>

void gcop::Kinbody3dTrack< _nu >::Add2	(	const Vectorud &	u,
		const Matrix4d &	x,
		double	h
	)		[virtual]

Add a new state/control to estimation vector

Parameters:

u	commanded control
x	true state (to generate measurements)
h	time-step

Reimplemented in gcop::KinbodyProjTrack< _nu >.

References gcop::random_normal().

template<int _nu>

void gcop::Kinbody3dTrack< _nu >::Get	(	Matrix4d &	x,
		double	vd,
		double	t
	)		const [virtual]

Reimplemented in gcop::KinbodyProjTrack< _nu >.

Referenced by gcop::Kinbody3dTrack< _nu >::Kinbody3dTrack().

template<int _nu>

void gcop::Kinbody3dTrack< _nu >::MakeTrue

(

)

[virtual]

Reimplemented in gcop::KinbodyProjTrack< _nu >.

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Member Data Documentation

template<int _nu = 6>

vector<int> gcop::Kinbody3dTrack< _nu >::cis

if observed then this should map into the corresponding value in p

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::cp

noise covariance of poses (assume spherical)

template<int _nu = 6>

Vector6d gcop::Kinbody3dTrack< _nu >::cv

noise covariance of odometry/gyro (assume diagonal)

template<int _nu = 6>

Vectorud gcop::Kinbody3dTrack< _nu >::cw

noise covariance of control forces (assume diagonal)

Referenced by gcop::Kinbody3dTrack< _nu >::Kinbody3dTrack().

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::dmax

sensor radius

template<int _nu = 6>

bool gcop::Kinbody3dTrack< _nu >::extforce

is there a constant external force that need to be estimated

template<int _nu = 6>

bool gcop::Kinbody3dTrack< _nu >::forces

is there a constant external force that need to be estimated

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::h

track height

template<int _nu = 6>

bool gcop::Kinbody3dTrack< _nu >::init

template<int _nu = 6>

vector< vector<pair<int, Vector3d> > > gcop::Kinbody3dTrack< _nu >::Is

N+1-vector of vectors of visible pose-to-feature indices.

template<int _nu = 6>

vector< vector<pair<int, Vector3d> > > gcop::Kinbody3dTrack< _nu >::Js

nf-vector of vectors of feature-to-pose indices indices

template<int _nu = 6>

vector<Vector3d> gcop::Kinbody3dTrack< _nu >::ls

landmark positions

template<int _nu = 6>

vector<bool> gcop::Kinbody3dTrack< _nu >::observed

was it observed

template<int _nu = 6>

VectorXd gcop::Kinbody3dTrack< _nu >::p

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

template<int _nu = 6>

vector<int> gcop::Kinbody3dTrack< _nu >::pis

observed landmark indices (m vector)

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::pr

feature radius

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::r

track radius

template<int _nu = 6>

Kinbody3d<_nu>& gcop::Kinbody3dTrack< _nu >::sys

system

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::t0

initial time around track

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::tf

final time around track

template<int _nu = 6>

vector<double> gcop::Kinbody3dTrack< _nu >::ts

sequence of times (N+1 vector)

template<int _nu = 6>

vector<Vectorud> gcop::Kinbody3dTrack< _nu >::uos

unoptimized trajectory

template<int _nu = 6>

vector<Vectorud> gcop::Kinbody3dTrack< _nu >::us

sequence of inputs (N vector)

template<int _nu = 6>

double gcop::Kinbody3dTrack< _nu >::w

track width

template<int _nu = 6>

vector<Matrix4d> gcop::Kinbody3dTrack< _nu >::xos

unoptimized trajectory

Referenced by gcop::Kinbody3dTrack< _nu >::Kinbody3dTrack(), and gcop::KinbodyProjTrack< _nu >::KinbodyProjTrack().

template<int _nu = 6>

vector<Matrix4d> gcop::Kinbody3dTrack< _nu >::xs

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

Referenced by gcop::Kinbody3dTrack< _nu >::Kinbody3dTrack(), and gcop::KinbodyProjTrack< _nu >::KinbodyProjTrack().

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

• lib/systems/kinbody3dtrack.h