#include <state_estimation_nodes/measurement.hpp>
#include <motion_model/constant_acceleration.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
#include <rclcpp/time.hpp>
#include <Eigen/Geometry>

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Namespaces
	autoware
	This file defines the lanelet2_map_provider_node class.

	autoware::prediction
	Functionality relating to prediction, including state estimation, kinematic prediction, maneuver-based prediction, map-aware prediction etc...

Typedefs
using	autoware::prediction::MeasurementPose = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y >

using	autoware::prediction::MeasurementPoseAndSpeed = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::POSE_X, motion::motion_model::ConstantAcceleration::States::POSE_Y, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y >

using	autoware::prediction::MeasurementSpeed = Measurement< common::types::float32_t, motion::motion_model::ConstantAcceleration::States::VELOCITY_X, motion::motion_model::ConstantAcceleration::States::VELOCITY_Y >

Functions
template<typename MeasurementT , typename MessageT >
MeasurementT	autoware::prediction::message_to_measurement (const MessageT &, const Eigen::Isometry3f &)
	Interface for converting a message into a measurement. More...

template<std::int32_t kStateDimentionality, typename FloatT >
static constexpr Eigen::Transform< FloatT, kStateDimentionality, Eigen::TransformTraits::Isometry >	autoware::prediction::downscale_isometry (const Eigen::Transform< FloatT, 3, Eigen::TransformTraits::Isometry > &isometry)
	Downscale the isometry to a lower dimention if needed. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPoseAndSpeed	autoware::prediction::message_to_measurement (const nav_msgs::msg::Odometry &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for odometry message. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementSpeed	autoware::prediction::message_to_measurement (const geometry_msgs::msg::TwistWithCovarianceStamped &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for twist message. More...

template<>
STATE_ESTIMATION_NODES_PUBLIC MeasurementPose	autoware::prediction::message_to_measurement (const geometry_msgs::msg::PoseWithCovarianceStamped &msg, const Eigen::Isometry3f &tf_world_message)
	Specialization of message_to_measurement for pose message. More...

Namespaces

Typedefs

Functions