autoware::prediction::Measurement< T, kMeasurementModalities > Class Template Reference

#include <measurement.hpp>

Public Member Functions
	Measurement (const std::chrono::system_clock::time_point &acquisition_time, const MeasurementVector &values, const VarianceVector &variances={})
const MeasurementVector &	get_values () const noexcept
const VarianceVector &	get_variances () const noexcept
const std::chrono::system_clock::time_point &	get_acquisition_time () const noexcept
template<std::int32_t kFullStateSize>
Vector< T, kFullStateSize >	get_values_in_full_state (const Vector< T, kFullStateSize > &donor_state=Vector< T, kFullStateSize >::Zero()) const

Static Public Member Functions
template<std::int32_t kNumOfStates>
static MapMatrix< T, kNumOfStates >	get_observation_to_state_mapping ()

Detailed Description

template<typename T, std::uint32_t... kMeasurementModalities>
class autoware::prediction::Measurement< T, kMeasurementModalities >

A class that wraps a measurement.

It can be used to create a measurement and produce valid values for:

• Full state of the system generated from this measurement.
• Mapping matrix to map measurement to the state.
• Variances of this measurement.

Template Parameters

T	Type of measurement underlying type, e.g. float32_t
kMeasurementModalities	Which modalities does this measurement represent.

Constructor & Destructor Documentation

Measurement()

template<typename T , std::uint32_t... kMeasurementModalities>

autoware::prediction::Measurement< T, kMeasurementModalities >::Measurement ( const std::chrono::system_clock::time_point &  acquisition_time, const MeasurementVector &  values, const VarianceVector &  variances = {}  )

inlineexplicit

Create a measurement from the measured values and their variances.

Parameters

[in]	acquisition_time	The acquisition time for this measurement.
[in]	values	The measured values.
[in]	variances	The variances of the measured values.

Member Function Documentation

get_acquisition_time()

template<typename T , std::uint32_t... kMeasurementModalities>

const std::chrono::system_clock::time_point& autoware::prediction::Measurement< T, kMeasurementModalities >::get_acquisition_time ( ) const

inlinenoexcept

Get the time at which this measurement was acquired.

Returns

The acquisition time of the measurement.

get_observation_to_state_mapping()

template<typename T , std::uint32_t... kMeasurementModalities>

template<std::int32_t kNumOfStates>

static MapMatrix<T, kNumOfStates> autoware::prediction::Measurement< T, kMeasurementModalities >::get_observation_to_state_mapping ( )

inlinestatic

Get a matrix that maps the observation to state given the state dimensionality.

Note

We can optimize this by allocating memory just once in the class static context, but this is left for the future if needed.

Template Parameters

kNumOfStates

Number of states of the state vector.

Returns

The observation to state mapping matrix H such that: state = H * measurement.

get_values()

template<typename T , std::uint32_t... kMeasurementModalities>

const MeasurementVector& autoware::prediction::Measurement< T, kMeasurementModalities >::get_values ( ) const

inlinenoexcept

Get stored measured values.

Returns

The values measured.

get_values_in_full_state()

template<typename T , std::uint32_t... kMeasurementModalities>

template<std::int32_t kFullStateSize>

Vector<T, kFullStateSize> autoware::prediction::Measurement< T, kMeasurementModalities >::get_values_in_full_state ( const Vector< T, kFullStateSize > &  donor_state = Vector<T, kFullStateSize>::Zero() ) const

inline

Get a full state vector populated by the values from this measurement.

Note that the ordering of these values depends on two factors:

• which order of kMeasurementModalities is provided
• integer values for measurement modalities in the enum.

It is assumed that state is ordered exactly as values in kMeasurementModalities, i.e., a measurement modality 0 is the first one in the state and so on..

Parameters

[in]

donor_state

The state that will be reused to set values missing in this measurement.

Template Parameters

kFullStateSize

The dimentionality of the state.

Returns

The values from a measurement represented as a vector state dimentionality.

get_variances()

template<typename T , std::uint32_t... kMeasurementModalities>

const VarianceVector& autoware::prediction::Measurement< T, kMeasurementModalities >::get_variances ( ) const

inlinenoexcept

Get stored variances.

Returns

Variances of this measurement as a vector of elements on the diagonal of R.

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

• measurement.hpp