Ports

measure (multiple in)

Data structure

  • struct ::or_pose_estimator::state measure

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]

frame (multiple out)

Data structure

  • struct ::or_pose_estimator::state frame

    • struct ::or::time::ts ts

      • long sec

      • long nsec

    • boolean intrinsic

    • optional< struct ::or::t3d::pos > pos

      • double x

      • double y

      • double z

    • optional< struct ::or::t3d::att > att

      • double qw

      • double qx

      • double qy

      • double qz

    • optional< struct ::or::t3d::vel > vel

      • double vx

      • double vy

      • double vz

    • optional< struct ::or::t3d::avel > avel

      • double wx

      • double wy

      • double wz

    • optional< struct ::or::t3d::acc > acc

      • double ax

      • double ay

      • double az

    • optional< struct ::or::t3d::aacc > aacc

      • double awx

      • double awy

      • double awz

    • optional< struct ::or::t3d::pos_cov > pos_cov

      • double cov[6]

    • optional< struct ::or::t3d::att_cov > att_cov

      • double cov[10]

    • optional< struct ::or::t3d::att_pos_cov > att_pos_cov

      • double cov[12]

    • optional< struct ::or::t3d::vel_cov > vel_cov

      • double cov[6]

    • optional< struct ::or::t3d::avel_cov > avel_cov

      • double cov[6]

    • optional< struct ::or::t3d::acc_cov > acc_cov

      • double cov[6]

    • optional< struct ::or::t3d::aacc_cov > aacc_cov

      • double cov[6]

Services

get_history_length (attribute)

Outputs

  • double history_length

set_history_length (attribute)

Inputs

  • double history_length

get_filter_period (attribute)

Outputs

  • unsigned long fperiodms Filter period (ms)

set_filter_period (attribute)

Inputs

  • unsigned long fperiodms (default "1") Filter period (ms)
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what

get_prediction_model (attribute)

Outputs

  • enum ::pom::prediction_model pmodel Prediction model ∈ { constant_velocity, constant_acceleration }

set_prediction_model (attribute)

Inputs

  • enum ::pom::prediction_model pmodel Prediction model ∈ { constant_velocity, constant_acceleration }

get_process_noise (attribute)

Outputs

  • double max_jerk Maximum jerk

  • double max_dw Maximum angular acceleration

set_process_noise (attribute)

Inputs

  • double max_jerk (default "200") Maximum jerk

  • double max_dw (default "50") Maximum angular acceleration

get_mag_field (attribute)

Outputs

  • struct ::pom::ids::mag_field magdir

    • double x

    • double y

    • double z

set_mag_field (attribute)

Inputs

  • struct ::pom::ids::mag_field magdir

    • double x X (North, T)

    • double y Y (West, T)

    • double z Z (Up, T)

Set magnetic field vector

add_measurement (activity)

Inputs

  • string<128> port Input port name

  • double x (default "0") X offset (m)

  • double y (default "0") Y offset (m)

  • double z (default "0") Z offset (m)

  • double roll (default "0") roll offset (rad)

  • double pitch (default "0") pitch offset (rad)

  • double yaw (default "0") yaw offset (rad)
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what
Context

Add a measurement source.

Offset indicates the sensor position in body frame, relative to the point for which the state is estimated.

replay (activity)

Inputs

  • string<128> path (default "pom-measurements.log") Log file name
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what
Context

Replay a measurement log file

set_position (function)

Inputs

  • double x

  • double y

  • double z

  • double roll

  • double pitch

  • double yaw

Set the current position

log_state (function)

Inputs

  • string<64> path (default "/tmp/pom.log") Log file name

  • unsigned long decimation (default "1") Reduced logging frequency
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what

Log state

log_measurements (function)

Inputs

  • string<64> path (default "/tmp/pom-measurements.log") Log file name
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what

Log measurements

log_stop (function)

Stop logging

log_info (function)

Outputs

  • double state_miss Missed log state rate

  • double measurements_miss Missed log measurements rate

Show missed log entries rate

Tasks

io

Context
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what

filter

Context
Throws

  • exception ::pom::e_sys

    • short code

    • string<128> what