#include <imu_state.h>
Public Types | |
| typedef Eigen::Matrix< double, Dimension, Dimension > | CovarianceMatrix |
| typedef Eigen::Matrix< double, Dimension, 1 > | StateVector |
Public Member Functions | |
| const Eigen::Vector3d & | accBias () const |
| getter for the accBias | |
| Eigen::Vector3d & | accBias () |
| getter for the accBias | |
| const Eigen::Quaterniond & | body2ImuRotation () const |
| getter for the rotation from target frame to imu frame | |
| const Eigen::Vector3d & | body2ImuTranslation () const |
| getter for the translation from target frame to imu frame | |
| const CovarianceMatrix & | covariance () const |
| getter for the covariance matrix | |
| CovarianceMatrix & | covariance () |
| getter for the covariance matrix | |
| void | fixCovariance () |
| Fix those parts of covaraince matrix that are not estimated at the moment. | |
| const Eigen::Vector3d & | gravity () const |
| getter for the gravity | |
| Eigen::Vector3d & | gravity () |
| getter for the gravity | |
| const Eigen::Vector3d & | gyroBias () const |
| getter for the gyroBias | |
| Eigen::Vector3d & | gyroBias () |
| getter for the gyroBias | |
| ImuState () | |
| ImuState (const ImuState &other) | |
| ImuState & | operator= (const ImuState &other) |
| const Eigen::Quaterniond & | orientation () const |
| getter for the orientation | |
| Eigen::Quaterniond & | orientation () |
| getter for the orientation | |
| const Eigen::Vector3d & | position () const |
| getter for the position | |
| Eigen::Vector3d & | position () |
| getter for the position | |
| void | setAccBias (const Eigen::Vector3d &newAccBias) |
| setter for the accBias | |
| void | setAccBiasRange (double rx, double ry, double rz) |
| set permitted maximum range for the accelerometer bias | |
| void | setBody2ImuRotation (const Eigen::Quaterniond &rot) |
| setter for the rotation from target frame to imu frame | |
| void | setBody2ImuTranslation (const Eigen::Vector3d &trans) |
| setter for the translation from target frame to imu frame | |
| void | setEstimateAccBias (bool v) |
| set whether accelerometer bias is part of the estimated state variables or not! | |
| void | setEstimateGravity (bool v) |
| set whether gravity is part of the estimated state variables or not! | |
| void | setEstimateGyroBias (bool v) |
| set whether gyro bias is part of the estimated state variables or not! | |
| void | setGravity (const Eigen::Vector3d &newGravity) |
| setter for the gravity | |
| void | setGyroBias (const Eigen::Vector3d &newGyroBias) |
| setter for the gyroBias | |
| void | setGyroBiasRange (double rx, double ry, double rz) |
| set permitted maximum range for the gyro bias | |
| void | setOrientation (const Eigen::Quaterniond &newOrientation) |
| setter for the orientation | |
| void | setParameter (const StateVector &vector) |
| set the parameters of the state | |
| void | setPosition (const Eigen::Vector3d &newPosition) |
| setter for the position | |
| void | setVelocity (const Eigen::Vector3d &newVelocity) |
| setter for the velocity | |
| void | toVector (StateVector &vec) const |
| retrieve vector representation of the state This will give back a "vector" view of the state, for usage in the filtering equations | |
| void | update (const StateVector &updateVector) |
| update the state vector (additive update) | |
| const Eigen::Vector3d & | velocity () const |
| getter for the velocity | |
| Eigen::Vector3d & | velocity () |
| getter for the velocity | |
| const Eigen::Affine3d & | world2Imu () |
| Get the current pose estimate of the IMU state as transformation matrix. | |
Static Public Attributes | |
| static const size_t | Dimension = 19 |
Private Attributes | |
| Eigen::Vector3d | accBias_ |
| Eigen::Vector3d | accBiasRange_ |
| Eigen::Quaterniond | body2ImuR_ |
| Eigen::Vector3d | body2ImuT_ |
| CovarianceMatrix | covariance_ |
| bool | estimate_acc_bias_ |
| bool | estimate_gravity_ |
| bool | estimate_gyro_bias_ |
| Eigen::Vector3d | gravity_ |
| Eigen::Vector3d | gyroBias_ |
| Eigen::Vector3d | gyroBiasRange_ |
| Eigen::Quaterniond | orientation_ |
| Eigen::Vector3d | position_ |
| Eigen::Vector3d | velocity_ |
| Eigen::Affine3d | world2ImuPose_ |
The class is responsible for storing all information about the Kalman state
Definition at line 58 of file imu_state.h.
| typedef Eigen::Matrix<double, Dimension, Dimension> imu_filter::ImuState::CovarianceMatrix |
Typedef for the covariance Matrix
Definition at line 63 of file imu_state.h.
| typedef Eigen::Matrix<double, Dimension, 1> imu_filter::ImuState::StateVector |
Typedef for the state vector
Definition at line 62 of file imu_state.h.
| imu_filter::ImuState::ImuState | ( | ) | [inline] |
Definition at line 65 of file imu_state.h.
| imu_filter::ImuState::ImuState | ( | const ImuState & | other | ) | [inline] |
Definition at line 84 of file imu_state.h.
| const Eigen::Vector3d& imu_filter::ImuState::accBias | ( | ) | const [inline] |
getter for the accBias
Definition at line 243 of file imu_state.h.
| Eigen::Vector3d& imu_filter::ImuState::accBias | ( | ) | [inline] |
getter for the accBias
Definition at line 248 of file imu_state.h.
| const Eigen::Quaterniond& imu_filter::ImuState::body2ImuRotation | ( | ) | const [inline] |
getter for the rotation from target frame to imu frame
Definition at line 283 of file imu_state.h.
| const Eigen::Vector3d& imu_filter::ImuState::body2ImuTranslation | ( | ) | const [inline] |
getter for the translation from target frame to imu frame
Definition at line 293 of file imu_state.h.
| const CovarianceMatrix& imu_filter::ImuState::covariance | ( | ) | const [inline] |
getter for the covariance matrix
Definition at line 273 of file imu_state.h.
| CovarianceMatrix& imu_filter::ImuState::covariance | ( | ) | [inline] |
getter for the covariance matrix
Definition at line 278 of file imu_state.h.
| void imu_filter::ImuState::fixCovariance | ( | ) | [inline] |
Fix those parts of covaraince matrix that are not estimated at the moment.
Definition at line 374 of file imu_state.h.
| const Eigen::Vector3d& imu_filter::ImuState::gravity | ( | ) | const [inline] |
getter for the gravity
Definition at line 258 of file imu_state.h.
| Eigen::Vector3d& imu_filter::ImuState::gravity | ( | ) | [inline] |
getter for the gravity
Definition at line 263 of file imu_state.h.
| const Eigen::Vector3d& imu_filter::ImuState::gyroBias | ( | ) | const [inline] |
getter for the gyroBias
Definition at line 228 of file imu_state.h.
| Eigen::Vector3d& imu_filter::ImuState::gyroBias | ( | ) | [inline] |
getter for the gyroBias
Definition at line 233 of file imu_state.h.
Definition at line 99 of file imu_state.h.
| const Eigen::Quaterniond& imu_filter::ImuState::orientation | ( | ) | const [inline] |
getter for the orientation
Definition at line 180 of file imu_state.h.
| Eigen::Quaterniond& imu_filter::ImuState::orientation | ( | ) | [inline] |
getter for the orientation
Definition at line 185 of file imu_state.h.
| const Eigen::Vector3d& imu_filter::ImuState::position | ( | ) | const [inline] |
getter for the position
Definition at line 198 of file imu_state.h.
| Eigen::Vector3d& imu_filter::ImuState::position | ( | ) | [inline] |
getter for the position
Definition at line 203 of file imu_state.h.
| void imu_filter::ImuState::setAccBias | ( | const Eigen::Vector3d & | newAccBias | ) | [inline] |
setter for the accBias
Definition at line 253 of file imu_state.h.
| void imu_filter::ImuState::setAccBiasRange | ( | double | rx, |
| double | ry, | ||
| double | rz | ||
| ) | [inline] |
set permitted maximum range for the accelerometer bias
values with absolute value higher than this will get clamped!
Definition at line 332 of file imu_state.h.
| void imu_filter::ImuState::setBody2ImuRotation | ( | const Eigen::Quaterniond & | rot | ) | [inline] |
setter for the rotation from target frame to imu frame
Definition at line 288 of file imu_state.h.
| void imu_filter::ImuState::setBody2ImuTranslation | ( | const Eigen::Vector3d & | trans | ) | [inline] |
setter for the translation from target frame to imu frame
Definition at line 298 of file imu_state.h.
| void imu_filter::ImuState::setEstimateAccBias | ( | bool | v | ) | [inline] |
set whether accelerometer bias is part of the estimated state variables or not!
Definition at line 313 of file imu_state.h.
| void imu_filter::ImuState::setEstimateGravity | ( | bool | v | ) | [inline] |
set whether gravity is part of the estimated state variables or not!
Definition at line 303 of file imu_state.h.
| void imu_filter::ImuState::setEstimateGyroBias | ( | bool | v | ) | [inline] |
set whether gyro bias is part of the estimated state variables or not!
Definition at line 308 of file imu_state.h.
| void imu_filter::ImuState::setGravity | ( | const Eigen::Vector3d & | newGravity | ) | [inline] |
setter for the gravity
Definition at line 268 of file imu_state.h.
| void imu_filter::ImuState::setGyroBias | ( | const Eigen::Vector3d & | newGyroBias | ) | [inline] |
setter for the gyroBias
Definition at line 238 of file imu_state.h.
| void imu_filter::ImuState::setGyroBiasRange | ( | double | rx, |
| double | ry, | ||
| double | rz | ||
| ) | [inline] |
set permitted maximum range for the gyro bias
values with absolute value higher than this will get clamped!
Definition at line 320 of file imu_state.h.
| void imu_filter::ImuState::setOrientation | ( | const Eigen::Quaterniond & | newOrientation | ) | [inline] |
setter for the orientation
Definition at line 190 of file imu_state.h.
| void imu_filter::ImuState::setParameter | ( | const StateVector & | vector | ) | [inline] |
set the parameters of the state
| vector | state parameters to set |
Definition at line 154 of file imu_state.h.
| void imu_filter::ImuState::setPosition | ( | const Eigen::Vector3d & | newPosition | ) | [inline] |
setter for the position
Definition at line 208 of file imu_state.h.
| void imu_filter::ImuState::setVelocity | ( | const Eigen::Vector3d & | newVelocity | ) | [inline] |
setter for the velocity
Definition at line 223 of file imu_state.h.
| void imu_filter::ImuState::toVector | ( | StateVector & | vec | ) | const [inline] |
retrieve vector representation of the state This will give back a "vector" view of the state, for usage in the filtering equations
Definition at line 343 of file imu_state.h.
| void imu_filter::ImuState::update | ( | const StateVector & | updateVector | ) | [inline] |
update the state vector (additive update)
| updateVector | computed update vector from the Kalman filter |
Definition at line 119 of file imu_state.h.
| const Eigen::Vector3d& imu_filter::ImuState::velocity | ( | ) | const [inline] |
getter for the velocity
Definition at line 213 of file imu_state.h.
| Eigen::Vector3d& imu_filter::ImuState::velocity | ( | ) | [inline] |
getter for the velocity
Definition at line 218 of file imu_state.h.
| const Eigen::Affine3d& imu_filter::ImuState::world2Imu | ( | ) | [inline] |
Get the current pose estimate of the IMU state as transformation matrix.
Definition at line 395 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::accBias_ [private] |
Definition at line 416 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::accBiasRange_ [private] |
Definition at line 426 of file imu_state.h.
Eigen::Quaterniond imu_filter::ImuState::body2ImuR_ [private] |
Definition at line 429 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::body2ImuT_ [private] |
Definition at line 430 of file imu_state.h.
Definition at line 422 of file imu_state.h.
const size_t imu_filter::ImuState::Dimension = 19 [static] |
Dimension of the filter (Covariance Matrix, State Vector)
Definition at line 61 of file imu_state.h.
bool imu_filter::ImuState::estimate_acc_bias_ [private] |
Definition at line 434 of file imu_state.h.
bool imu_filter::ImuState::estimate_gravity_ [private] |
Definition at line 432 of file imu_state.h.
bool imu_filter::ImuState::estimate_gyro_bias_ [private] |
Definition at line 433 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::gravity_ [private] |
Definition at line 419 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::gyroBias_ [private] |
Definition at line 413 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::gyroBiasRange_ [private] |
Definition at line 425 of file imu_state.h.
Eigen::Quaterniond imu_filter::ImuState::orientation_ [private] |
Definition at line 404 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::position_ [private] |
Definition at line 407 of file imu_state.h.
Eigen::Vector3d imu_filter::ImuState::velocity_ [private] |
Definition at line 410 of file imu_state.h.
Eigen::Affine3d imu_filter::ImuState::world2ImuPose_ [private] |
Definition at line 436 of file imu_state.h.