Demonstration of the full Attitude-Bias-Calibration Equivariant Filter. More...

#include "ABC_EQF.h"

Include dependency graph for ABC_EQF_Demo.cpp:

Classes
struct	Data
	Data structure for ground-truth, input and output data. More...

Typedefs
using	EqFilter = abc_eqf_lib::EqF< N >

using	Group = abc_eqf_lib::G< N >

using	M = abc_eqf_lib::State< N >

Functions
std::vector< Data >	loadDataFromCSV (const std::string &filename, int startRow=0, int maxRows=-1, int downsample=1)

int	main (int argc, char *argv[])

void	processDataWithEqF (EqFilter &filter, const std::vector< Data > &data_list, int printInterval=10)
	Process data with EqF and print summary results. More...

Variables
constexpr size_t	N = 1

Detailed Description

Demonstration of the full Attitude-Bias-Calibration Equivariant Filter.

This demo shows the Equivariant Filter (EqF) for attitude estimation with both gyroscope bias and sensor extrinsic calibration, based on the paper: "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration" by Fornasier et al. Authors: Darshan Rajasekaran & Jennifer Oum

Definition in file ABC_EQF_Demo.cpp.

Typedef Documentation

◆ EqFilter

using EqFilter = abc_eqf_lib::EqF<N>

Definition at line 19 of file ABC_EQF_Demo.cpp.

◆ Group

using Group = abc_eqf_lib::G<N>

Definition at line 18 of file ABC_EQF_Demo.cpp.

◆ M

using M = abc_eqf_lib::State<N>

Definition at line 17 of file ABC_EQF_Demo.cpp.

Function Documentation

◆ loadDataFromCSV()

std::vector< Data > loadDataFromCSV	(	const std::string &	filename,
		int	startRow = `0`,
		int	maxRows = `-1`,
		int	downsample = `1`
	)

Load data from CSV file into a vector of Data objects for the EqF

CSV format:

t: Time
q_w, q_x, q_y, q_z: True attitude quaternion
b_x, b_y, b_z: True bias
cq_w_0, cq_x_0, cq_y_0, cq_z_0: True calibration quaternion
w_x, w_y, w_z: Angular velocity measurements
std_w_x, std_w_y, std_w_z: Angular velocity measurement standard deviations
std_b_x, std_b_y, std_b_z: Bias process noise standard deviations
y_x_0, y_y_0, y_z_0, y_x_1, y_y_1, y_z_1: Direction measurements
std_y_x_0, std_y_y_0, std_y_z_0, std_y_x_1, std_y_y_1, std_y_z_1: Direction measurement standard deviations
d_x_0, d_y_0, d_z_0, d_x_1, d_y_1, d_z_1: Reference directions

Definition at line 74 of file ABC_EQF_Demo.cpp.

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 375 of file ABC_EQF_Demo.cpp.

◆ processDataWithEqF()

void processDataWithEqF	(	EqFilter &	filter,
		const std::vector< Data > &	data_list,
		int	printInterval = `10`
	)

Process data with EqF and print summary results.

Takes in the data and runs an EqF on it and reports the results.

Definition at line 223 of file ABC_EQF_Demo.cpp.

Variable Documentation

◆ N

constexpr size_t N = 1

constexpr

Definition at line 16 of file ABC_EQF_Demo.cpp.

Classes

Typedefs

Functions

Variables