EKF Updater Class for Fiducial Camera Measurements. More...

Inheritance diagram for FiducialUpdater:

Collaboration diagram for FiducialUpdater:

Public Member Functions
	FiducialUpdater (int fiducial_id, int camera_id, bool is_cam_extrinsic, const std::string &log_file_directory, double data_log_rate, std::shared_ptr< DebugLogger > logger)
	MSCKF EKF Updater constructor. More...

void	UpdateEKF (EKF &ekf, double time, BoardDetection board_detection)
	EKF updater function. More...

Public Member Functions inherited from Updater
	Updater (unsigned int sensor_id, std::shared_ptr< DebugLogger > logger)
	EKF Updater constructor. More...

void	KalmanUpdate (EKF &ekf, const Eigen::MatrixXd &jacobian, const Eigen::VectorXd &residual, const Eigen::MatrixXd &measurement_noise)

Additional Inherited Members
Protected Attributes inherited from Updater
unsigned int	m_id
	Associated sensor ID.

std::shared_ptr< DebugLogger >	m_logger
	Debug logger.

Detailed Description

EKF Updater Class for Fiducial Camera Measurements.

Constructor & Destructor Documentation

FiducialUpdater::FiducialUpdater	(	int	fiducial_id,
		int	camera_id,
		bool	is_cam_extrinsic,
		const std::string &	log_file_directory,
		double	data_log_rate,
		std::shared_ptr< DebugLogger >	logger
	)

explicit

MSCKF EKF Updater constructor.

Parameters

fiducial_id	Fiducial ID
camera_id	Camera sensor ID
is_cam_extrinsic	Camera extrinsic calibration flag
log_file_directory	Directory to save log files
data_log_rate	Maximum average rate to log data
logger	Debug logger pointer

void FiducialUpdater::UpdateEKF	(	EKF &	ekf,
		double	time,
		BoardDetection	board_detection
	)

EKF updater function.

Parameters

ekf	EKF pointer
time	Time of update
board_track	Board track to be used for state update

The documentation for this class was generated from the following files: