cartographer源码分析(44)-kalman_filter-pose_tracker.h

最新推荐文章于 2025-05-25 16:55:36 发布

slamcode

最新推荐文章于 2025-05-25 16:55:36 发布

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分类专栏： cartographer源码分析

本文链接：https://blog.youkuaiyun.com/learnmoreonce/article/details/76359047

源码可在https://github.com/learnmoreonce/SLAM 下载


文件pose_tracker.h


#ifndef CARTOGRAPHER_KALMAN_FILTER_POSE_TRACKER_H_
#define CARTOGRAPHER_KALMAN_FILTER_POSE_TRACKER_H_

#include <deque>
#include <memory>

#include "Eigen/Cholesky"
#include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h"
#include "cartographer/common/time.h"
#include "cartographer/kalman_filter/gaussian_distribution.h"
#include "cartographer/kalman_filter/proto/pose_tracker_options.pb.h"
#include "cartographer/kalman_filter/unscented_kalman_filter.h"
#include "cartographer/mapping/imu_tracker.h"
#include "cartographer/mapping/odometry_state_tracker.h"
#include "cartographer/sensor/proto/sensor.pb.h"
#include "cartographer/transform/transform.h"

namespace cartographer {
   
   
namespace kalman_filter {
   
   

typedef Eigen::Matrix3d Pose2DCovariance; //3*3矩阵
typedef Eigen::Matrix<double,