Example file for the Repredictor implementation. More...

#include <mrs_lib/repredictor.h>
#include <mrs_lib/lkf.h>
#include <mrs_lib/mutex.h>
#include <random>
#include <fstream>
#include <mutex>
#include <thread>
#include <ros/ros.h>
#include <mrs_msgs/Float64Stamped.h>

Include dependency graph for example.cpp:

Namespaces
	mrs_lib
	All mrs_lib functions, classes, variables and definitions are contained in this namespace.

Typedefs
using	mrs_lib::rep_t = Repredictor< lkf_t >

using	A_t = lkf_t::A_t

using	B_t = lkf_t::B_t

using	H_t = lkf_t::H_t

using	Q_t = lkf_t::Q_t

using	x_t = lkf_t::x_t

using	P_t = lkf_t::P_t

using	u_t = lkf_t::u_t

using	z_t = lkf_t::z_t

using	R_t = lkf_t::R_t

using	statecov_t = lkf_t::statecov_t

Enumerations
enum	type_e { input, meas_fast, meas_slow }

Functions
template<int rows>
Eigen::Matrix< double, rows, 1 >	multivariate_gaussian (const Eigen::Matrix< double, rows, rows > &cov)

A_t	generateA (const double dt)

B_t	generateB ([[maybe_unused]] const double dt)

const H_t	H ((H_t()<< 1, 0).finished())

void	process_msg (const mrs_msgs::Float64Stamped::ConstPtr msg, type_e type)

void	callback_input (const mrs_msgs::Float64Stamped::ConstPtr msg)

void	callback_meas_fast (const mrs_msgs::Float64Stamped::ConstPtr msg)

void	callback_meas_slow (const mrs_msgs::Float64Stamped::ConstPtr msg)

void	meas_generator_fast ()

void	meas_generator_slow ()

int	main (int argc, char **argv)

Variables
const Q_t	Q = 2.5*Q_t::Identity()

const R_t	R_fast = 5.5*R_t::Identity()

const R_t	R_slow = 0.01*R_t::Identity()

const x_t	x0 = x_t::Zero()

const P_t	P0 = 5.0*P_t::Identity()

const u_t	u0 = u_t::Zero()

const ros::Time	t0 = ros::Time(0)

const std::shared_ptr< lkf_t >	lkf_ptr = std::make_shared<lkf_t>(generateA, generateB, H)

const unsigned	buf_sz = 100

std::mutex	rep_pubs_mtx

rep_t	rep (x0, P0, u0, Q, t0, lkf_ptr, buf_sz)

ros::Publisher	pub_pos_est

ros::Publisher	pub_vel_est

std::mutex	x_mtx

x_t	x = x_t::Random()

ros::Publisher	pub_meas_fast

ros::Publisher	pub_meas_slow

Detailed Description

Example file for the Repredictor implementation.

Author: Matouš Vrba - vrbam.nosp@m.ato@.nosp@m.fel.c.nosp@m.vut..nosp@m.cz

This example may be run after building mrs_lib by executing rosrun mrs_lib repredictor_example.

See repredictor/example.cpp.

Namespaces

Typedefs

Enumerations

Functions

Variables

Detailed Description