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pom component

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 X (T)

    • double y Y (T)

    • double z Z (T)

Get the expected magnetic field vector at current location.

See set_mag_field (attribute).

set_mag_field (attribute)

Inputs

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

    • double x X (T)

    • double y Y (T)

    • double z Z (T)

Define the expected magnetic field vector at current location.

Data must be given in world frame coordinates.

Warning The service does not enforce any convention on the global frame in which data is given. The frame must be consistent with the expected frame of any absolute position and orientation measurements received by the component.

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 (default "0") (m)

  • double y (default "0") (m)

  • double z (default "0") (m)

  • double roll (default "0") (deg)

  • double pitch (default "0") (deg)

  • double yaw (default "0") (deg)

  • double precision (default "0.05") Position precision (m or rad)

Set the current position.

This sets the current state to the given position (meters and degrees). This is the position that will be published until new measurements arrive.

The precision is intepreted as 3 times the standard deviation.

Note If new measurements include a position or orientation measurement, they will override the state set by this function.

log_state (activity)

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
Context

  • In task io (frequency 1000.0 Hz)

Log state

log_measurements (activity)

Inputs

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

  • exception ::pom::e_sys

    • short code

    • string<128> what
Context

  • In task io (frequency 1000.0 Hz)

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