RPYKalmanFilter Class Reference

#include <RPYKalmanFilter.h>

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.

Member Function Documentation

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

Definition at line 127 of file RPYKalmanFilter.h.

void RPYKalmanFilter::setSensorR ( const hrp::Matrix33 &  sr )

inline

Definition at line 157 of file RPYKalmanFilter.h.

Member Data Documentation

hrp::Matrix33 RPYKalmanFilter::m_sensorR

private

Definition at line 164 of file RPYKalmanFilter.h.

KFilter RPYKalmanFilter::p_filter

private

Definition at line 160 of file RPYKalmanFilter.h.

double RPYKalmanFilter::Q_angle

private

Definition at line 163 of file RPYKalmanFilter.h.

double RPYKalmanFilter::Q_rate

private

Definition at line 163 of file RPYKalmanFilter.h.

double RPYKalmanFilter::R_angle

private

Definition at line 163 of file RPYKalmanFilter.h.

KFilter RPYKalmanFilter::r_filter

private

Definition at line 160 of file RPYKalmanFilter.h.

KFilter RPYKalmanFilter::y_filter

private

Definition at line 160 of file RPYKalmanFilter.h.

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The documentation for this class was generated from the following file:

• RPYKalmanFilter.h