class mola::NavStateFilter
Overview
Unified API for kinematic state filtering algorithms, fusing information from multiple odometry or twist sources.
#include <NavStateFilter.h> class NavStateFilter: public mrpt::system::COutputLogger { public: // methods virtual void reset() = 0; virtual void initialize(const mrpt::containers::yaml& cfg) = 0; virtual void fuse_pose( const mrpt::Clock::time_point& timestamp, const mrpt::poses::CPose3DPDFGaussian& pose, const std::string& frame_id ) = 0; virtual void fuse_odometry( const mrpt::obs::CObservationOdometry& odom, const std::string& odomName = "odom_wheels" ) = 0; virtual void fuse_imu(const mrpt::obs::CObservationIMU& imu) = 0; virtual void fuse_twist( const mrpt::Clock::time_point& timestamp, const mrpt::math::TTwist3D& twist, const mrpt::math::CMatrixDouble66& twistCov ) = 0; virtual std::optional<NavState> estimated_navstate( const mrpt::Clock::time_point& timestamp, const std::string& frame_id ) = 0; }; // direct descendants class NavStateFG; class NavStateFuse;
Methods
virtual void reset() = 0
Resets the estimator state to an initial state
virtual void initialize(const mrpt::containers::yaml& cfg) = 0
Initializes the object and reads all parameters from a YAML node.
Parameters:
cfg |
a YAML node with a dictionary of parameters to load from. |
virtual void fuse_pose( const mrpt::Clock::time_point& timestamp, const mrpt::poses::CPose3DPDFGaussian& pose, const std::string& frame_id ) = 0
Integrates new SE(3) pose estimation of the vehicle wrt frame_id
virtual void fuse_odometry( const mrpt::obs::CObservationOdometry& odom, const std::string& odomName = "odom_wheels" ) = 0
Integrates new wheels-based odometry observations into the estimator. This is a convenience method that internally ends up calling fuse_pose(), but computing the uncertainty of odometry increments according to a given motion model.
virtual void fuse_imu(const mrpt::obs::CObservationIMU& imu) = 0
Integrates new IMU observations into the estimator
virtual void fuse_twist( const mrpt::Clock::time_point& timestamp, const mrpt::math::TTwist3D& twist, const mrpt::math::CMatrixDouble66& twistCov ) = 0
Integrates new twist estimation (in the odom frame)
virtual std::optional<NavState> estimated_navstate( const mrpt::Clock::time_point& timestamp, const std::string& frame_id ) = 0
Computes the estimated vehicle state at a given timestep using the observations in the time window. A std::nullopt is returned if there is no valid observations yet, or if requested a timestamp out of the model validity time window (e.g. too far in the future to be trustful).