GpsUpdater Class Reference

EKF Updater Class for GPS Sensors. More...

#include <gps_updater.hpp>

Inheritance diagram for GpsUpdater:

Collaboration diagram for GpsUpdater:

Public Member Functions
	GpsUpdater (unsigned int gps_id, bool is_extrinsic, const std::string &log_file_directory, double data_log_rate, std::shared_ptr< DebugLogger > logger)
	GPS EKF Updater Constructor. More...
Eigen::MatrixXd	GetMeasurementJacobian (EKF &ekf)
	Measurement Jacobian method. More...
Eigen::Vector3d	PredictMeasurement (EKF &ekf)
	Predict GPS measurement. More...
void	UpdateEKF (EKF &ekf, const double time, const Eigen::Vector3d &gps_lla, const Eigen::MatrixXd &pos_covariance)
	EKF update method for GPS measurements. More...
void	MultiUpdateEKF (EKF &ekf)
	Update/marginalize EKF using GPS measurements used to initialize local frame. 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 GPS Sensors.

Constructor & Destructor Documentation

GpsUpdater()

GpsUpdater::GpsUpdater	(	unsigned int	gps_id,
		bool	is_extrinsic,
		const std::string &	log_file_directory,
		double	data_log_rate,
		std::shared_ptr< DebugLogger >	logger
	)

GPS EKF Updater Constructor.

Parameters

gps_id	GPS Sensor ID
log_file_directory	Logging file directory
is_extrinsic	Is GPS extrinsic calibrating
data_log_rate	Maximum data logging rate
logger	Debug logger pointer

Member Function Documentation

GetMeasurementJacobian()

Eigen::MatrixXd GpsUpdater::GetMeasurementJacobian

(

EKF &

ekf

)

Measurement Jacobian method.

Parameters

ekf	EKF address

Returns

Measurement Jacobian matrix

MultiUpdateEKF()

void GpsUpdater::MultiUpdateEKF

(

EKF &

ekf

)

Update/marginalize EKF using GPS measurements used to initialize local frame.

Parameters

ekf	EKF address

PredictMeasurement()

Eigen::Vector3d GpsUpdater::PredictMeasurement

(

EKF &

ekf

)

Predict GPS measurement.

Parameters

ekf	EKF address

Returns

Predicted GPS measurement

UpdateEKF()

void GpsUpdater::UpdateEKF	(	EKF &	ekf,
		const double	time,
		const Eigen::Vector3d &	gps_lla,
		const Eigen::MatrixXd &	pos_covariance
	)

EKF update method for GPS measurements.

Parameters

ekf	EKF address
time	Measurement time
gps_lla	GPS measured lat-lon-alt
pos_covariance	GPS measurement covariance

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

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