Autoware.Auto
autoware::common::state_estimation::detail Namespace Reference

Classes

class  Index
 A functor to compute an index in the data array. More...
 

Functions

const geometry_msgs::msg::PoseWithCovariance & unstamp (const geometry_msgs::msg::PoseWithCovarianceStamped &msg)
 
const autoware_auto_geometry_msgs::msg::RelativePositionWithCovarianceStamped & unstamp (const autoware_auto_geometry_msgs::msg::RelativePositionWithCovarianceStamped &msg)
 
template<std::int32_t kNumOfStates>
bool passes_mahalanobis_gate (const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &sample, const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &mean, const Eigen::Matrix< common::types::float32_t, kNumOfStates, kNumOfStates > &covariance, const common::types::float32_t mahalanobis_threshold)
 

Function Documentation

◆ passes_mahalanobis_gate()

template<std::int32_t kNumOfStates>
bool autoware::common::state_estimation::detail::passes_mahalanobis_gate ( const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &  sample,
const Eigen::Matrix< common::types::float32_t, kNumOfStates, 1 > &  mean,
const Eigen::Matrix< common::types::float32_t, kNumOfStates, kNumOfStates > &  covariance,
const common::types::float32_t  mahalanobis_threshold 
)

Check if the sample passes the Mahalanobis gate.

Parameters
[in]sampleThe input sample
[in]meanThe mean to be compared against
[in]covarianceCovariance around the given mean
[in]mahalanobis_thresholdThe mahalanobis threshold factor
Template Parameters
kNumOfStatesNumber of states in the state vector.
Returns
True if the sample passes the gate and false otherwise.

◆ unstamp() [1/2]

const autoware_auto_geometry_msgs::msg::RelativePositionWithCovarianceStamped& autoware::common::state_estimation::detail::unstamp ( const autoware_auto_geometry_msgs::msg::RelativePositionWithCovarianceStamped &  msg)
inline

◆ unstamp() [2/2]

const geometry_msgs::msg::PoseWithCovariance& autoware::common::state_estimation::detail::unstamp ( const geometry_msgs::msg::PoseWithCovarianceStamped &  msg)
inline