FiducialUpdater Class Reference

EKF Updater Class for Fiducial Camera Measurements. More...

#include <fiducial_updater.hpp>

Inheritance diagram for FiducialUpdater:

Collaboration diagram for FiducialUpdater:

Public Member Functions
	FiducialUpdater (unsigned int fiducial_id, unsigned int camera_id, bool is_fid_extrinsic, bool is_cam_extrinsic, const std::string &log_file_directory, double data_log_rate, std::shared_ptr< DebugLogger > logger)
	MSCKF EKF Updater constructor. More...
void	RefreshStates (EKF &ekf)
	Refresh the EKF state indices. More...
Eigen::MatrixXd	GetMeasurementJacobian (EKF &ekf)
	Measurement Jacobian method. More...
Eigen::VectorXd	PredictMeasurement (EKF &ekf)
	Predict Fiducial measurement. More...
void	UpdateEKF (EKF &ekf, const double time, const BoardDetection &board_detection)
	EKF updater function. More...
Public Member Functions inherited from Updater
	Updater (unsigned int sensor_id, std::shared_ptr< DebugLogger > logger)
	EKF Updater constructor. More...

Additional Inherited Members
Static Public Member Functions inherited from Updater
static void	KalmanUpdate (EKF &ekf, const Eigen::MatrixXd &jacobian, const Eigen::VectorXd &residual, const Eigen::MatrixXd &measurement_noise_input)
Protected Attributes inherited from Updater
unsigned int	m_id
	Associated sensor ID.
std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

EKF Updater Class for Fiducial Camera Measurements.

Constructor & Destructor Documentation

FiducialUpdater()

FiducialUpdater::FiducialUpdater ( unsigned int  fiducial_id, unsigned int  camera_id, bool  is_fid_extrinsic, bool  is_cam_extrinsic, const std::string &  log_file_directory, double  data_log_rate, std::shared_ptr< DebugLogger >  logger  )

explicit

MSCKF EKF Updater constructor.

Parameters

fiducial_id	Fiducial ID
camera_id	Camera sensor ID
is_fid_extrinsic	Camera extrinsic calibration flag
is_cam_extrinsic	Fiducial extrinsic calibration flag
log_file_directory	Directory to save log files
data_log_rate	Maximum average rate to log data
logger	Debug logger pointer

Member Function Documentation

GetMeasurementJacobian()

Eigen::MatrixXd FiducialUpdater::GetMeasurementJacobian

(

EKF &

ekf

)

Measurement Jacobian method.

Parameters

ekf	EKF address

Returns

Measurement Jacobian matrix

Todo:

Test camera calibration jacobians

PredictMeasurement()

Eigen::VectorXd FiducialUpdater::PredictMeasurement

(

EKF &

ekf

)

Predict Fiducial measurement.

Parameters

ekf	EKF address

Returns

Predicted Fiducial measurement

RefreshStates()

void FiducialUpdater::RefreshStates

(

EKF &

ekf

)

Refresh the EKF state indices.

Parameters

ekf	EKF address

UpdateEKF()

void FiducialUpdater::UpdateEKF	(	EKF &	ekf,
		const double	time,
		const BoardDetection &	board_detection
	)

EKF updater function.

Parameters

ekf	EKF address
time	Time of update
board_detection	Board detection to be used for state update

Todo:

Chi^2 distance check

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

• src/ekf/update/fiducial_updater.hpp
• src/ekf/update/fiducial_updater.cpp