#include <core/sensor/sensor_diff_drive.h>

Inheritance diagram for wolf::SensorDiffDrive:

Public Member Functions
	WOLF_SENSOR_CREATE (SensorDiffDrive)

	~SensorDiffDrive () override=default

Eigen::MatrixXd	computeNoiseCov (const Eigen::VectorXd &_data) const override

double	getTicksPerWheelRevolution () const

double	getTicksStdFactor () const

double	getRadiansPerTick () const

Public Member Functions inherited from wolf::SensorBase
	~SensorBase () override

unsigned int	id () const override

HardwareBaseConstPtr	getHardware () const

HardwareBasePtr	getHardware ()

YAML::Node	getParams () const

ProcessorBaseConstPtrList	getProcessorList () const

ProcessorBasePtrList	getProcessorList ()

CaptureBaseConstPtr	getLastCapture () const

CaptureBasePtr	getLastCapture ()

void	setLastCapture (CaptureBasePtr)

void	updateLastCapture ()

CaptureBaseConstPtr	findLastCaptureBefore (const TimeStamp &_ts) const

CaptureBasePtr	findLastCaptureBefore (const TimeStamp &_ts)

bool	process (const CaptureBasePtr capture_ptr)

StateBlockConstPtr	getStateBlock (const char &_key) const override

StateBlockPtr	getStateBlock (const char &_key) override

StateBlockConstPtr	getStateBlock (const char &_key, const TimeStamp &_ts) const

StateBlockPtr	getStateBlock (const char &_key, const TimeStamp &_ts)

CaptureBaseConstPtr	getCaptureContainingStateBlock (const char &_key, const TimeStamp &_ts) const

CaptureBasePtr	getCaptureContainingStateBlock (const char &_key, const TimeStamp &_ts)

CaptureBaseConstPtr	getCaptureContainingStateBlock (const char &_key) const

CaptureBasePtr	getCaptureContainingStateBlock (const char &_key)

StateBlockConstPtr	getP (const TimeStamp _ts) const

StateBlockPtr	getP (const TimeStamp _ts)

StateBlockConstPtr	getO (const TimeStamp _ts) const

StateBlockPtr	getO (const TimeStamp _ts)

StateBlockConstPtr	getIntrinsic (const TimeStamp _ts) const

StateBlockPtr	getIntrinsic (const TimeStamp _ts)

StateBlockConstPtr	getP () const

StateBlockPtr	getP ()

StateBlockConstPtr	getO () const

StateBlockPtr	getO ()

StateBlockConstPtr	getIntrinsic () const

StateBlockPtr	getIntrinsic ()

void	setStateBlockDynamic (const char &_key, bool _dynamic=true)

bool	isStateBlockDynamic (const char &_key) const

bool	hasDrift (char _key) const

void	setDriftStdRate (char _key, const Eigen::VectorXd &_drift_rate_std)

Eigen::VectorXd	getDriftStdRate (char) const

void	fixExtrinsics ()

void	unfixExtrinsics ()

void	fixIntrinsics ()

void	unfixIntrinsics ()

bool	isEnabled () const

void	enable ()

void	disable ()

virtual Eigen::MatrixXd	computeNoiseCov (const Eigen::VectorXd &_data) const =0

virtual void	printHeader (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream, std::string _tabs="") const

void	printState (bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream, std::string _tabs) const

void	print (int depth, bool factored_by, bool metric, bool state_blocks, std::ostream &stream=std::cout, std::string _tabs="") const

virtual CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs="") const

bool	check (CheckLog &_log, bool _verbose, std::ostream &_stream, std::string _tabs="") const

void	link (HardwareBasePtr)

SensorBasePtr	shared_from_this_sensor ()

SensorBaseConstPtr	shared_from_this_sensor () const

Public Member Functions inherited from wolf::NodeStateBlocks
	NodeStateBlocks (const std::string &_category, const std::string &_type, const TypeComposite &_state_types, const VectorComposite &_state_vectors, const PriorComposite &_state_priors)
	Constructor. More...

virtual	~NodeStateBlocks ()

virtual YAML::Node	toYaml () const

StateKeys	getKeys () const

TypeComposite	getStateTypes () const

bool	has (const char &_sb_key) const

bool	has (const std::string &_keys) const

virtual unsigned int	id () const =0

std::map< char, StateBlockConstPtr >	getStateBlockMap () const

std::map< char, StateBlockPtr >	getStateBlockMap ()

std::vector< StateBlockConstPtr >	getStateBlockVec () const

std::vector< StateBlockPtr >	getStateBlockVec ()

StateBlockConstPtr	getP () const

StateBlockConstPtr	getO () const

StateBlockPtr	getP ()

StateBlockPtr	getO ()

virtual void	fix ()

virtual void	unfix ()

virtual bool	isFixed () const

StateBlockPtr	emplaceStateBlock (const char key, const std::string &_type, const Eigen::VectorXd &_vector, const bool &_fixed)
	Emplace a state block. More...

StateBlockPtr	emplaceStateBlockZero (const char key, const std::string &_type, const bool &_fixed)
	Emplace a state block with zero state. More...

bool	hasStateBlock (const StateBlockConstPtr &_sb) const

bool	setStateBlock (const char _sb_key, const StateBlockPtr &_sb)

bool	stateBlockKey (const StateBlockConstPtr &_sb, char &_key) const

virtual StateBlockConstPtr	getStateBlock (const char &_sb_key) const

virtual StateBlockPtr	getStateBlock (const char &_sb_key)

void	setProblem (ProblemPtr _problem) override

virtual void	remove (bool viral_remove_parent_without_children=false)

bool	hasChildren () const override

void	emplaceFactorStateBlock (const char &_key, const Eigen::VectorXd &_x, const Eigen::MatrixXd &_cov, unsigned int _start_idx=0)
	Add an absolute factor to a parameter. More...

void	emplacePriors ()

FactorBaseConstPtrSet	getFactoredBySet () const

FactorBasePtrSet	getFactoredBySet ()

void	getFactoredBySet (FactorBaseConstPtrSet &_fac_set) const

void	getFactoredBySet (FactorBasePtrSet &_fac_set)

FactorBaseConstPtrSet	getSensoryFactorSet () const

FactorBasePtrSet	getSensoryFactorSet ()

std::map< char, FactorBaseConstPtr >	getPriorFactorMap () const

std::map< char, FactorBasePtr >	getPriorFactorMap ()

FactorBaseConstPtr	getPriorFactor (char) const

FactorBasePtr	getPriorFactor (char)

FactorBaseConstPtrList	getFactorsOf (ProcessorBaseConstPtr _processor_ptr, const std::string &type="") const

FactorBasePtrList	getFactorsOf (ProcessorBasePtr _processor_ptr, const std::string &type="")

bool	hasFactor (FactorBaseConstPtr _fac) const

VectorComposite	getState (const StateKeys &_keys="") const

void	setState (const VectorComposite &_state, const bool _notify=true)

void	setState (const Eigen::VectorXd &_state, const StateKeys &_keys, const std::list< SizeEigen > &_sizes, const bool _notify=true)

void	setState (const Eigen::VectorXd &_state, const StateKeys &_keys, const bool _notify=true)

void	setState (const StateKeys &_keys, const std::list< Eigen::VectorXd > &_vectors, const bool _notify=true)

Eigen::VectorXd	getStateVector (const StateKeys &_keys) const

unsigned int	getSize (const StateKeys &_keys="") const

unsigned int	getLocalSize (const StateKeys &_keys="") const

bool	getCovariance (const StateKeys &_keys, Eigen::MatrixXd &_cov) const

void	perturb (double amplitude=0.01)
	perturb all states states with random noise following an uniform distribution in [ -amplitude, amplitude ] More...

bool	isCapture () const

bool	isFrame () const

bool	isLandmark () const

bool	isSensor () const

Public Member Functions inherited from wolf::NodeBase
	NodeBase (const std::string &_category, const std::string &_type="Undefined", const std::string &_name="")

virtual	~NodeBase ()=default

unsigned int	nodeId () const

std::string	getCategory () const

std::string	getType () const

std::string	getName () const

bool	isRemoving () const

virtual bool	hasChildren () const =0

void	setType (const std::string &_type)

void	setName (const std::string &_name)

ProblemConstPtr	getProblem () const

ProblemPtr	getProblem ()

Protected Attributes
double	ticks_per_wheel_revolution_

double	ticks_std_factor_

Protected Attributes inherited from wolf::SensorBase
std::map< char, Eigen::VectorXd >	drifts_std_rate_
	std rate of the drift of dynamic state blocks [unit/sqrt(s)] More...

YAML::Node	params_
	Params yaml node. More...

Protected Attributes inherited from wolf::NodeBase
ProblemWPtr	problem_ptr_

unsigned int	node_id_
	Node id. It is unique over the whole Wolf Tree. More...

std::string	node_category_
	Text label identifying the category of node ("SENSOR", "FEATURE", etc) More...

std::string	node_type_
	Text label identifying the type or subcategory of node ("Pin Hole", "Point 2d", etc) More...

std::string	node_name_

bool	is_removing_
	A flag for safely removing nodes from the Wolf tree. See remove(). More...

Additional Inherited Members
Protected Member Functions inherited from wolf::SensorBase
void	setProblem (ProblemPtr _problem) override final

	SensorBase (const std::string &_type, const TypeComposite &_state_types, const YAML::Node &_params)
	Constructor. More...

Protected Member Functions inherited from wolf::NodeStateBlocks
virtual void	removeStateBlock (const char &_sb_key)

void	transform (const VectorComposite &_transformation)

void	printState (bool _factored_by, bool _metric, bool _state_blocks, std::ostream &_stream, std::string _tabs) const

CheckLog	localCheck (bool _verbose, std::ostream &_stream, std::string _tabs) const

virtual void	setProblem (ProblemPtr _prob_ptr)

Constructor & Destructor Documentation

◆ ~SensorDiffDrive()

wolf::SensorDiffDrive::~SensorDiffDrive ( )

overridedefault

Member Function Documentation

◆ computeNoiseCov()

Eigen::MatrixXd wolf::SensorDiffDrive::computeNoiseCov ( const Eigen::VectorXd & _data ) const

overridevirtual

Implements wolf::SensorBase.

◆ getRadiansPerTick()

double wolf::SensorDiffDrive::getRadiansPerTick ( ) const

inline

◆ getTicksPerWheelRevolution()

double wolf::SensorDiffDrive::getTicksPerWheelRevolution ( ) const

inline

◆ getTicksStdFactor()

double wolf::SensorDiffDrive::getTicksStdFactor ( ) const

inline

◆ WOLF_SENSOR_CREATE()

wolf::SensorDiffDrive::WOLF_SENSOR_CREATE ( SensorDiffDrive )

Member Data Documentation

◆ ticks_per_wheel_revolution_

double wolf::SensorDiffDrive::ticks_per_wheel_revolution_

protected

◆ ticks_std_factor_

double wolf::SensorDiffDrive::ticks_std_factor_

protected

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

include/core/sensor/sensor_diff_drive.h
src/sensor/sensor_diff_drive.cpp

Public Member Functions

Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ ~SensorDiffDrive()

Member Function Documentation

◆ computeNoiseCov()

◆ getRadiansPerTick()

◆ getTicksPerWheelRevolution()

◆ getTicksStdFactor()

◆ WOLF_SENSOR_CREATE()

Member Data Documentation

◆ ticks_per_wheel_revolution_

◆ ticks_std_factor_