#include <EKF_3D_USBLModel.hpp>

Inheritance diagram for labust::navigation::EKF_3D_USBLModel:

Classes
struct	ModelParams
Public Types
enum	{ u = 0, v, w, p, q, r, xp, yp, zp, phi, theta, psi, xc, yc, b, buoyancy, roll_restore, pitch_restore, altitude, xb, yb, zb, stateNum }
enum	{ X = 0, Y, Z, Kroll, M, N, inputSize }
enum	{ range = stateNum, bearing, elevation, measSize }
typedef vector	input_type
typedef vector	output_type
Public Member Functions
double	calculateAltInovationVariance (const matrix &P)
void	calculateUVInovationVariance (const matrix &P, double &uin, double &vin)
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
	EKF_3D_USBLModel ()
void	estimate_y (output_type &y)
void	getNEDSpeed (double &xdot, double &ydot)
void	initModel ()
void	setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &heave, const ModelParams &roll, const ModelParams &pitch, const ModelParams &yaw)
void	step (const input_type &input)
const output_type &	update (vector &measurements, vector &newMeas)
void	useDvlModel (int flag)
	~EKF_3D_USBLModel ()
Protected Member Functions
void	derivativeAW ()
void	derivativeH ()
void	derivativeHV (int num)
Protected Attributes
int	dvlModel
ModelParams	heave
matrix	Hnl
output_type	measurement
ModelParams	pitch
ModelParams	roll
ModelParams	surge
ModelParams	sway
double	xdot
vector	y
ModelParams	yaw
double	ydot
vector	ynl
Private Types
typedef SSModel< double >	Base

Detailed Description

This class implements a EKF filter for the LDTravOcean ROV.

Definition at line 56 of file EKF_3D_USBLModel.hpp.

Member Typedef Documentation

typedef SSModel<double> labust::navigation::EKF_3D_USBLModel::Base [private]

Definition at line 58 of file EKF_3D_USBLModel.hpp.

typedef vector labust::navigation::EKF_3D_USBLModel::input_type

Definition at line 60 of file EKF_3D_USBLModel.hpp.

typedef vector labust::navigation::EKF_3D_USBLModel::output_type

Definition at line 61 of file EKF_3D_USBLModel.hpp.

Member Enumeration Documentation

anonymous enum

Enumerator:

u
v
w
p
q
r
xp
yp
zp
phi
theta
psi
xc
yc
b
buoyancy
roll_restore
pitch_restore
altitude
xb
yb
zb
stateNum

Definition at line 83 of file EKF_3D_USBLModel.hpp.

anonymous enum

Enumerator:

X
Y
Z
Kroll
M
N
inputSize

Definition at line 84 of file EKF_3D_USBLModel.hpp.

anonymous enum

Enumerator:

range
bearing
elevation
measSize

Definition at line 85 of file EKF_3D_USBLModel.hpp.

Constructor & Destructor Documentation

EKF_3D_USBLModel::EKF_3D_USBLModel ( )

The default constructor.

Definition at line 53 of file EKF_3D_USBLModel.cpp.

EKF_3D_USBLModel::~EKF_3D_USBLModel ( )

Generic destructor.

Definition at line 61 of file EKF_3D_USBLModel.cpp.

Member Function Documentation

double EKF_3D_USBLModel::calculateAltInovationVariance ( const matrix & P )

Definition at line 81 of file EKF_3D_USBLModel.cpp.

void EKF_3D_USBLModel::calculateUVInovationVariance	(	const matrix &	P,
		double &	uin,
		double &	vin
	)

Definition at line 86 of file EKF_3D_USBLModel.cpp.

void EKF_3D_USBLModel::calculateXYInovationVariance	(	const matrix &	P,
		double &	xin,
		double &	yin
	)

Definition at line 75 of file EKF_3D_USBLModel.cpp.

void EKF_3D_USBLModel::derivativeAW ( ) [protected]

Calculate the Jacobian matrices.

Definition at line 119 of file EKF_3D_USBLModel.cpp.

void EKF_3D_USBLModel::derivativeH ( ) [protected]

Calculate the nonlinear H derivative.

Definition at line 210 of file EKF_3D_USBLModel.cpp.

void labust::navigation::EKF_3D_USBLModel::derivativeHV ( int num ) [protected]

Calculate the Jacobian matrices.

void EKF_3D_USBLModel::estimate_y ( output_type & y )

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

Definition at line 206 of file EKF_3D_USBLModel.cpp.

void labust::navigation::EKF_3D_USBLModel::getNEDSpeed	(	double &	xdot,
		double &	ydot
	)		`[inline]`

Return the speeds in the local frame.

Definition at line 146 of file EKF_3D_USBLModel.hpp.

void EKF_3D_USBLModel::initModel ( )

Initialize the model to default values

Definition at line 63 of file EKF_3D_USBLModel.cpp.

void labust::navigation::EKF_3D_USBLModel::setParameters	(	const ModelParams &	surge,
		const ModelParams &	sway,
		const ModelParams &	heave,
		const ModelParams &	roll,
		const ModelParams &	pitch,
		const ModelParams &	yaw
	)		`[inline]`