autoware::common::state_estimation::MeasurementInterface< Derived > Struct Template Reference
A CRTP interface to any measurement. More...
#include <measurement_interface.hpp>
Inheritance diagram for autoware::common::state_estimation::MeasurementInterface< Derived >:
Collaboration diagram for autoware::common::state_estimation::MeasurementInterface< Derived >:
Public Member Functions | |
| auto & | state () |
| Get measurement as a state vector. More... | |
| const auto & | state () const |
| Get measurement as a state vector. More... | |
| auto & | covariance () |
| Get covariance of the measurement as a matrix. More... | |
| const auto & | covariance () const |
| template<typename OtherStateT > | |
| auto | create_new_instance_from (const OtherStateT &other_state) const |
| Create a new instance of the measurement from another state. More... | |
| template<typename OtherStateT > | |
| OtherStateT | map_into (const OtherStateT &other_state) const |
| Map this measurement into another state space. More... | |
| template<typename OtherStateT > | |
| auto | mapping_matrix_from (const OtherStateT &other_state) const |
| Get a matrix that maps a state to this measurement's state space. More... | |
Additional Inherited Members | |
 Protected Member Functions inherited from autoware::common::helper_functions::crtp< Derived > | |
| const Derived & | impl () const |
| Derived & | impl () |
Detailed Description
template<typename Derived>
struct autoware::common::state_estimation::MeasurementInterface< Derived >
A CRTP interface to any measurement.
- Template Parameters
-
Derived Derived class that is expected to inherit from this class.
Member Function Documentation
◆ covariance() [1/2]
template<typename Derived >
|
inline |
Get covariance of the measurement as a matrix.
◆ covariance() [2/2]
template<typename Derived >
|
inline |
◆ create_new_instance_from()
template<typename Derived >
template<typename OtherStateT >
|
inline |
Create a new instance of the measurement from another state.
- Note
- While it might seem like this function could be static, it is explicitly not static to allow for future implementation to cache some internal workspace required for this computation along with the mapping matrix computation. To allow these optimized implementation to be a drop-in replacement for the naive implementations, this function is not static.
- Parameters
-
[in] other_state The other state.
- Template Parameters
-
OtherStateT Type of the other state.
- Returns
- Return a state that is a mapping of the OtherStateT to this measurement's state.
◆ map_into()
template<typename Derived >
template<typename OtherStateT >
|
inline |
Map this measurement into another state space.
- Note
- It is implementation defined, but the other_state values are usually maintained for all variables not updated through this mapping. Please see the concrete implementation documentation when in doubt.
- Parameters
-
[in] other_state The other state.
- Template Parameters
-
OtherStateT Type of the other state.
- Returns
- An instance of OtherStateT with updated variables observed by this measurement.
◆ mapping_matrix_from()
template<typename Derived >
template<typename OtherStateT >
|
inline |
Get a matrix that maps a state to this measurement's state space.
For a measurement of dimensionality M the resulting matrix converts a state vector of type OtherStateT (of dimensionality N) to a state vector of this measurement (of dimensionality M). This matrix is, generally speaking, the Jacobian of a mapping function h, such as mapped_state = h(other_state), implemented in create_new_instance_from.
- Parameters
-
[in] other_state The other state to be converted into the measurement state space.
- Template Parameters
-
OtherStateT Type of the other state.
- Returns
- Returns a mapping matrix that maps from OtherStateT to this measurement's state.
◆ state() [1/2]
template<typename Derived >
|
inline |
Get measurement as a state vector.
◆ state() [2/2]
template<typename Derived >
|
inline |
Get measurement as a state vector.
The documentation for this struct was generated from the following file: