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:
    // structs

    struct GeoReferenceParams;

    // 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_gnss(const mrpt::obs::CObservationGPS& gps) = 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_gnss(const mrpt::obs::CObservationGPS& gps) = 0

Integrates new GNSS 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).