SLAMObservationModel Class Reference

#include <slam_base_observation_model.hpp>

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Public Member Functions
	SLAMObservationModel ()=default
virtual	~SLAMObservationModel ()=default
virtual Eigen::VectorXd	observation_model (const Eigen::VectorXd &state, const std::vector< int > matched_landmarks) const
	transform landmarks' positions from global frame to the car's frame
virtual Eigen::VectorXd	inverse_observation_model (const Eigen::VectorXd &state, const Eigen::VectorXd &observations) const
	transforms the landmarks' coordinates from the car's frame to the global frame
virtual Eigen::MatrixXd	observation_model_jacobian (const Eigen::VectorXd &state, const std::vector< int > &matched_landmarks) const
	jacobian of the observation model
virtual Eigen::MatrixXd	inverse_observation_model_jacobian_pose (const Eigen::VectorXd &state, const Eigen::VectorXd &new_landmarks) const
	get the Gv matrix used in the state augmentation function, calculated as the jacobian of the inverse observation model with respect to the car's position and orientation
virtual Eigen::MatrixXd	inverse_observation_model_jacobian_landmarks (const Eigen::VectorXd &state, const Eigen::VectorXd &new_landmarks) const
	get the Gz matrix used in the state augmentation function of the EKF, calculated as the jacobian of the inverse observation model with respect to the new landmarks positions (in the car's frame)

Detailed Description

Definition at line 7 of file slam_base_observation_model.hpp.

Constructor & Destructor Documentation

SLAMObservationModel()

SLAMObservationModel::SLAMObservationModel ( )

default

~SLAMObservationModel()

virtual SLAMObservationModel::~SLAMObservationModel ( )

virtualdefault

Member Function Documentation

inverse_observation_model()

Eigen::VectorXd SLAMObservationModel::inverse_observation_model ( const Eigen::VectorXd &  state, const Eigen::VectorXd &  observations  ) const

virtual

transforms the landmarks' coordinates from the car's frame to the global frame

Parameters

state	used to get the car's pose
observations	observed landmarks in the car's frame in form {x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}

Returns

Eigen::VectorXd landmarks in the global frame in form {x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}

Definition at line 16 of file slam_base_observation_model.cpp.

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inverse_observation_model_jacobian_landmarks()

Eigen::MatrixXd SLAMObservationModel::inverse_observation_model_jacobian_landmarks ( const Eigen::VectorXd &  state, const Eigen::VectorXd &  new_landmarks  ) const

virtual

get the Gz matrix used in the state augmentation function of the EKF, calculated as the jacobian of the inverse observation model with respect to the new landmarks positions (in the car's frame)

Parameters

state	car's position and orientation, followed by the landmarks in the form {car_x, car_y, car_theta, x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}
new_landmarks	new landmarks in the form {x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}

Returns

Eigen::MatrixXd Gz matrix of size (2 * num_new_landmarks, 2 * num_new_landmarks)

Definition at line 63 of file slam_base_observation_model.cpp.

inverse_observation_model_jacobian_pose()

Eigen::MatrixXd SLAMObservationModel::inverse_observation_model_jacobian_pose ( const Eigen::VectorXd &  state, const Eigen::VectorXd &  new_landmarks  ) const

virtual

get the Gv matrix used in the state augmentation function, calculated as the jacobian of the inverse observation model with respect to the car's position and orientation

Parameters

state	car's position and orientation, followed by the landmarks in the form {car_x, car_y, car_theta, x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}
new_landmarks	new landmarks in the form {x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}

Returns

Eigen::MatrixXd Gv matrix of size (2 * num_new_landmarks, 3)

Definition at line 47 of file slam_base_observation_model.cpp.

observation_model()

Eigen::VectorXd SLAMObservationModel::observation_model ( const Eigen::VectorXd &  state, const std::vector< int >  matched_landmarks  ) const

virtual

transform landmarks' positions from global frame to the car's frame

Parameters

state	vector with the car's position and orientation, followed by the landmark positions {car_x, car_y, car_theta, x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}
matched_landmarks	indexes of the x coordinate of landmarks in the state vector that were observed in a specific measurement

Returns

Eigen::VectorXd predicted observations {x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}

Definition at line 5 of file slam_base_observation_model.cpp.

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observation_model_jacobian()

Eigen::MatrixXd SLAMObservationModel::observation_model_jacobian ( const Eigen::VectorXd &  state, const std::vector< int > &  matched_landmarks  ) const

virtual

jacobian of the observation model

Parameters

state	vector with the car's position and orientation, followed by the landmark positions {car_x, car_y, car_theta, x_cone_1, y_cone_1, x_cone_2, y_cone_2, ...}
matched_landmarks	indexes of the x coordinate of landmarks in the state vector that were observed in a specific measurement

Returns

Eigen::MatrixXd jacobian of the observation prediction

Definition at line 21 of file slam_base_observation_model.cpp.

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

• src/perception_sensor_lib/include/perception_sensor_lib/observation_model/slam/slam_base_observation_model.hpp
• src/perception_sensor_lib/src/observation_model/slam/slam_base_observation_model.cpp