class mola::NavStateFuse

Overview

Fuse of odometry, IMU, and SE(3) pose/twist estimations.

Usage:

1. Call initialize() or set the required parameters directly in params_.
1. Integrate measurements with fuse_*() methods. Each CObservation class includes a timestamp field which is used to estimate the trajectory.
1. Repeat (2) as needed.
1. Read the estimation up to any nearby moment in time with estimated_navstate()

Old observations are automatically removed.

See also:

IMUIntegrator

#include <NavStateFuse.h>

class NavStateFuse
{
public:
    // structs

    struct State;

    // fields

    NavStateFuseParams params_;

    // methods

    void initialize(const mrpt::containers::yaml& cfg);
    void reset();
    void fuse_odometry(const mrpt::obs::CObservationOdometry& odom);
    void fuse_imu(const mrpt::obs::CObservationIMU& imu);

    void fuse_pose(
        const mrpt::Clock::time_point& timestamp,
        const mrpt::poses::CPose3DPDFGaussian& pose
        );

    void fuse_twist(
        const mrpt::Clock::time_point& timestamp,
        const mrpt::math::TTwist3D& twist
        );

    std::optional<NavState> estimated_navstate(const mrpt::Clock::time_point& timestamp) const;
    std::optional<mrpt::math::TTwist3D> get_last_twist() const;
    void force_last_twist(const mrpt::math::TTwist3D& twist);
};

Methods

void initialize(const mrpt::containers::yaml& cfg)

Initializes the object and reads all parameters from a YAML node.

Parameters:

cfg	a YAML node with a dictionary of parameters to load from.

void reset()

Resets the estimator state to an initial state.

See also:

currentIntegrationState

void fuse_odometry(const mrpt::obs::CObservationOdometry& odom)

Integrates new odometry observations into the estimator

void fuse_imu(const mrpt::obs::CObservationIMU& imu)

Integrates new IMU observations into the estimator

void fuse_pose(
    const mrpt::Clock::time_point& timestamp,
    const mrpt::poses::CPose3DPDFGaussian& pose
    )

Integrates new SE(3) pose estimation into the estimator

void fuse_twist(
    const mrpt::Clock::time_point& timestamp,
    const mrpt::math::TTwist3D& twist
    )

Integrates new twist estimation (in the odom frame)

std::optional<NavState> estimated_navstate(const mrpt::Clock::time_point& timestamp) const

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).