Public Member Functions
double	getQangle () const
double	getQrate () const
double	getRangle () const
void	main_one (hrp::Vector3 &rpy, hrp::Vector3 &rpyRaw, hrp::Vector3 &baseRpyCurrent, const hrp::Vector3 &acc, const hrp::Vector3 &gyro, const double &sl_y, const hrp::Matrix33 &BtoS)
void	resetKalmanFilterState ()
	RPYKalmanFilter ()
void	setParam (const double _dt, const double _Q_angle, const double _Q_rate, const double _R_angle, const std::string print_str="")
void	setSensorR (const hrp::Matrix33 &sr)
Private Attributes
hrp::Matrix33	m_sensorR
KFilter	p_filter
double	Q_angle
double	Q_rate
double	R_angle
KFilter	r_filter
KFilter	y_filter

Detailed Description

Definition at line 71 of file RPYKalmanFilter.h.

Constructor & Destructor Documentation

RPYKalmanFilter::RPYKalmanFilter ( ) [inline]

Definition at line 73 of file RPYKalmanFilter.h.

double RPYKalmanFilter::getQangle ( ) const [inline]

Definition at line 158 of file RPYKalmanFilter.h.

double RPYKalmanFilter::getQrate ( ) const [inline]

Definition at line 159 of file RPYKalmanFilter.h.

double RPYKalmanFilter::getRangle ( ) const [inline]

Definition at line 160 of file RPYKalmanFilter.h.

void RPYKalmanFilter::main_one	(	hrp::Vector3 &	rpy,
		hrp::Vector3 &	rpyRaw,
		hrp::Vector3 &	baseRpyCurrent,
		const hrp::Vector3 &	acc,
		const hrp::Vector3 &	gyro,
		const double &	sl_y,
		const hrp::Matrix33 &	BtoS
	)		`[inline]`

Definition at line 74 of file RPYKalmanFilter.h.

void RPYKalmanFilter::resetKalmanFilterState ( ) [inline]

Definition at line 151 of file RPYKalmanFilter.h.

void RPYKalmanFilter::setParam	(	const double	_dt,
		const double	_Q_angle,
		const double	_Q_rate,
		const double	_R_angle,
		const std::string	print_str = `""`
	)		`[inline]`