sample RT component which has one data input port and one data output port More...
#include <KalmanFilter.h>
Public Member Functions | |
| bool | getKalmanFilterParam (OpenHRP::KalmanFilterService::KalmanFilterParam &i_param) |
| KalmanFilter (RTC::Manager *manager) | |
| Constructor. | |
| virtual RTC::ReturnCode_t | onActivated (RTC::UniqueId ec_id) |
| virtual RTC::ReturnCode_t | onDeactivated (RTC::UniqueId ec_id) |
| virtual RTC::ReturnCode_t | onExecute (RTC::UniqueId ec_id) |
| virtual RTC::ReturnCode_t | onInitialize () |
| bool | resetKalmanFilterState () |
| bool | setKalmanFilterParam (const OpenHRP::KalmanFilterService::KalmanFilterParam &i_param) |
| virtual | ~KalmanFilter () |
| Destructor. | |
Protected Attributes | |
| TimedAcceleration3D | m_acc |
| InPort< TimedAcceleration3D > | m_accIn |
| TimedAcceleration3D | m_accRef |
| InPort< TimedAcceleration3D > | m_accRefIn |
| RTC::TimedOrientation3D | m_baseRpyCurrent |
| RTC::OutPort < RTC::TimedOrientation3D > | m_baseRpyCurrentOut |
| RTC::CorbaPort | m_KalmanFilterServicePort |
| RTC::TimedDoubleSeq | m_qCurrent |
| RTC::InPort< RTC::TimedDoubleSeq > | m_qCurrentIn |
| TimedAngularVelocity3D | m_rate |
| InPort< TimedAngularVelocity3D > | m_rateIn |
| TimedOrientation3D | m_rpy |
| TimedOrientation3D | m_rpy_prev |
| InPort< TimedAngularVelocity3D > | m_rpyIn |
| OutPort< TimedOrientation3D > | m_rpyOut |
| TimedOrientation3D | m_rpyRaw |
| TimedOrientation3D | m_rpyRaw_prev |
| OutPort< TimedOrientation3D > | m_rpyRawOut |
| KalmanFilterService_impl | m_service0 |
Private Attributes | |
| hrp::Vector3 | acc_offset |
| int | dummy |
| EKFilter | ekf_filter |
| OpenHRP::KalmanFilterService::KFAlgorithm | kf_algorithm |
| int | loop |
| unsigned int | m_debugLevel |
| double | m_dt |
| hrp::BodyPtr | m_robot |
| hrp::Matrix33 | m_sensorR |
| RPYKalmanFilter | rpy_kf |
| hrp::Matrix33 | sensorR_offset |
Detailed Description
sample RT component which has one data input port and one data output port
Definition at line 43 of file KalmanFilter.h.
Constructor & Destructor Documentation
| KalmanFilter::KalmanFilter | ( | RTC::Manager * | manager | ) |
Constructor.
- Parameters:
-
manager pointer to the Manager
Definition at line 40 of file KalmanFilter.cpp.
| KalmanFilter::~KalmanFilter | ( | ) | [virtual] |
Destructor.
Definition at line 61 of file KalmanFilter.cpp.
Member Function Documentation
| bool KalmanFilter::getKalmanFilterParam | ( | OpenHRP::KalmanFilterService::KalmanFilterParam & | i_param | ) |
Definition at line 316 of file KalmanFilter.cpp.
| RTC::ReturnCode_t KalmanFilter::onActivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 167 of file KalmanFilter.cpp.
| RTC::ReturnCode_t KalmanFilter::onDeactivated | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 173 of file KalmanFilter.cpp.
| RTC::ReturnCode_t KalmanFilter::onExecute | ( | RTC::UniqueId | ec_id | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 179 of file KalmanFilter.cpp.
| RTC::ReturnCode_t KalmanFilter::onInitialize | ( | void | ) | [virtual] |
Reimplemented from RTC::RTObject_impl.
Definition at line 67 of file KalmanFilter.cpp.
| bool KalmanFilter::resetKalmanFilterState | ( | ) |
Definition at line 310 of file KalmanFilter.cpp.
| bool KalmanFilter::setKalmanFilterParam | ( | const OpenHRP::KalmanFilterService::KalmanFilterParam & | i_param | ) |
Definition at line 291 of file KalmanFilter.cpp.
Member Data Documentation
hrp::Vector3 KalmanFilter::acc_offset [private] |
Definition at line 165 of file KalmanFilter.h.
int KalmanFilter::dummy [private] |
Definition at line 167 of file KalmanFilter.h.
EKFilter KalmanFilter::ekf_filter [private] |
Definition at line 162 of file KalmanFilter.h.
OpenHRP::KalmanFilterService::KFAlgorithm KalmanFilter::kf_algorithm [private] |
Definition at line 168 of file KalmanFilter.h.
int KalmanFilter::loop [private] |
Definition at line 167 of file KalmanFilter.h.
TimedAcceleration3D KalmanFilter::m_acc [protected] |
Definition at line 115 of file KalmanFilter.h.
InPort<TimedAcceleration3D> KalmanFilter::m_accIn [protected] |
Definition at line 125 of file KalmanFilter.h.
TimedAcceleration3D KalmanFilter::m_accRef [protected] |
Definition at line 116 of file KalmanFilter.h.
InPort<TimedAcceleration3D> KalmanFilter::m_accRefIn [protected] |
Definition at line 126 of file KalmanFilter.h.
RTC::TimedOrientation3D KalmanFilter::m_baseRpyCurrent [protected] |
Definition at line 137 of file KalmanFilter.h.
RTC::OutPort<RTC::TimedOrientation3D> KalmanFilter::m_baseRpyCurrentOut [protected] |
Definition at line 138 of file KalmanFilter.h.
unsigned int KalmanFilter::m_debugLevel [private] |
Definition at line 166 of file KalmanFilter.h.
double KalmanFilter::m_dt [private] |
Definition at line 160 of file KalmanFilter.h.
Definition at line 149 of file KalmanFilter.h.
RTC::TimedDoubleSeq KalmanFilter::m_qCurrent [protected] |
Definition at line 135 of file KalmanFilter.h.
RTC::InPort<RTC::TimedDoubleSeq> KalmanFilter::m_qCurrentIn [protected] |
Definition at line 136 of file KalmanFilter.h.
TimedAngularVelocity3D KalmanFilter::m_rate [protected] |
Definition at line 114 of file KalmanFilter.h.
InPort<TimedAngularVelocity3D> KalmanFilter::m_rateIn [protected] |
Definition at line 124 of file KalmanFilter.h.
hrp::BodyPtr KalmanFilter::m_robot [private] |
Definition at line 163 of file KalmanFilter.h.
TimedOrientation3D KalmanFilter::m_rpy [protected] |
Definition at line 117 of file KalmanFilter.h.
TimedOrientation3D KalmanFilter::m_rpy_prev [protected] |
Definition at line 119 of file KalmanFilter.h.
InPort<TimedAngularVelocity3D> KalmanFilter::m_rpyIn [protected] |
Definition at line 127 of file KalmanFilter.h.
OutPort<TimedOrientation3D> KalmanFilter::m_rpyOut [protected] |
Definition at line 133 of file KalmanFilter.h.
TimedOrientation3D KalmanFilter::m_rpyRaw [protected] |
Definition at line 118 of file KalmanFilter.h.
TimedOrientation3D KalmanFilter::m_rpyRaw_prev [protected] |
Definition at line 120 of file KalmanFilter.h.
OutPort<TimedOrientation3D> KalmanFilter::m_rpyRawOut [protected] |
Definition at line 134 of file KalmanFilter.h.
hrp::Matrix33 KalmanFilter::m_sensorR [private] |
Definition at line 164 of file KalmanFilter.h.
KalmanFilterService_impl KalmanFilter::m_service0 [protected] |
Definition at line 155 of file KalmanFilter.h.
RPYKalmanFilter KalmanFilter::rpy_kf [private] |
Definition at line 161 of file KalmanFilter.h.
hrp::Matrix33 KalmanFilter::sensorR_offset [private] |
Definition at line 164 of file KalmanFilter.h.
The documentation for this class was generated from the following files: