Program Listing for File ukf.hpp

↰ Return to documentation for file (include/robot_localization/ukf.hpp)

/*
 * Copyright (c) 2014, 2015, 2016 Charles River Analytics, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
 * contributors may be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef ROBOT_LOCALIZATION__UKF_HPP_
#define ROBOT_LOCALIZATION__UKF_HPP_

#include <vector>

#include "Eigen/Dense"
#include "rclcpp/time.hpp"
#include "robot_localization/filter_base.hpp"
#include "robot_localization/measurement.hpp"

namespace robot_localization
{

class Ukf : public FilterBase
{
public:
  Ukf();

  ~Ukf();

  void setConstants(double alpha, double kappa, double beta);

  void correct(const Measurement & measurement) override;

  void predict(
    const rclcpp::Time & reference_time,
    const rclcpp::Duration & delta) override;

protected:
  void generateSigmaPoints();

  void projectSigmaPoint(Eigen::VectorXd & sigma_point, const rclcpp::Duration & delta);

  std::vector<Eigen::VectorXd> sigma_points_;

  Eigen::MatrixXd weighted_covar_sqrt_;

  std::vector<double> state_weights_;

  std::vector<double> covar_weights_;

  double lambda_;

  bool uncorrected_;
};

}  // namespace robot_localization

#endif  // ROBOT_LOCALIZATION__UKF_HPP_