Example file for the UKF implementation. More...

#include <mrs_lib/ukf.h>
#include <random>
#include <ros/ros.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::ukf_t = UKF< n_states, n_inputs, n_measurements >

using	Q_t = ukf_t::Q_t

using	tra_model_t = ukf_t::transition_model_t

using	obs_model_t = ukf_t::observation_model_t

using	x_t = ukf_t::x_t

using	P_t = ukf_t::P_t

using	u_t = ukf_t::u_t

using	z_t = ukf_t::z_t

using	R_t = ukf_t::R_t

using	statecov_t = ukf_t::statecov_t

Enumerations
enum	x_pos { x_x = 0, x_y = 1, x_z = 2, x_dx = 3, x_dy = 4, x_dz = 5, x_x = 0, x_y = 1, x_dx = 2, x_dy = 3, x_x = 0, x_y = 1, x_alpha = 2, x_x = 0, x_y, x_alpha, x_speed }

enum	u_pos { u_dx = 0, u_dy = 0, u_alpha = 0, u_alpha = 0 }

enum	z_pos { z_x = 0, z_y = 1, z_x = 0, z_y = 1, z_x = 0, z_y }

Functions
x_t	tra_model_f (const x_t &x, const u_t &u, const double dt)

ukf_t::z_t	obs_model_f (const ukf_t::x_t &x)

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

int	main ()

Detailed Description

Example file for the UKF implementation.

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

Namespaces