class mola::state_estimation_simple::Parameters

Overview

Parameters needed by StateEstimationSimple.

#include <Parameters.h>

class Parameters
{
public:
    // fields

    double max_time_to_use_velocity_model = 2.0;
    mrpt::math::TTwist3D initial_twist;
    double sigma_random_walk_acceleration_linear = 1.0;
    double sigma_random_walk_acceleration_angular = 10.0;
    double sigma_relative_pose_linear = 1.0;
    double sigma_relative_pose_angular = 0.1;
    double sigma_imu_angular_velocity = 0.05;
    bool enforce_planar_motion = false;
    std::regex do_process_imu_labels {".*"};
    std::regex do_process_odometry_labels {".*"};
    std::regex do_process_gnss_labels {".*"};

    // methods

    void loadFrom(const mrpt::containers::yaml& cfg);
};

Fields

double max_time_to_use_velocity_model = 2.0

Valid estimations will be extrapolated only up to this time since the last incorporated observation.

bool enforce_planar_motion = false

regex for IMU sensor labels (ROS topics) to accept as IMU readings.

std::regex do_process_imu_labels {".*"}

regex for odometry inputs labels (ROS topics) to be accepted as inputs

std::regex do_process_odometry_labels {".*"}

regex for GNSS (GPS) labels (ROS topics) to be accepted as inputs

Methods

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

Loads all parameters from a YAML map node.