EKFilter Class Reference

#include <EKFilter.h>

Public Member Functions
Eigen::Vector3d	calcAcc (const Eigen::Vector4d &q) const
void	calcF (hrp::Matrix77 &F, const Eigen::Vector4d &q, const Eigen::Vector3d &gyro, const Eigen::Vector3d &drift) const
void	calcH (Eigen::Matrix< double, 3, 7 > &H, const Eigen::Vector4d &q) const
Eigen::Vector3d	calcMeasurementResidual (const Eigen::Vector3d &acc_measured, const Eigen::Vector4d &q) const
void	calcOmega (Eigen::Matrix4d &omega, const Eigen::Vector3d &w) const
void	calcPredictedCovariance (hrp::Matrix77 &_P_a_priori, const hrp::Matrix77 &F, const Eigen::Vector4d &q) const
void	calcPredictedState (hrp::Vector7 &_x_a_priori, const Eigen::Vector4d &q, const Eigen::Vector3d &gyro, const Eigen::Vector3d &drift) const
void	calcRWithFuzzyRule (Eigen::Matrix3d &fuzzyR, const hrp::Vector3 &acc, const hrp::Vector3 &gyro) const
void	correction (const Eigen::Vector3d &z, const Eigen::Matrix3d &fuzzyR)
	EKFilter ()
hrp::Vector7	getx () const
void	main_one (hrp::Vector3 &rpy, hrp::Vector3 &rpyRaw, const hrp::Vector3 &acc, const hrp::Vector3 &gyro)
void	prediction (const Eigen::Vector3d &u)
void	printAll () const
void	resetKalmanFilterState ()
void	setdt (const double _dt)

Private Attributes
double	dt
Eigen::Vector3d	g_vec
double	max_mag_thre_acc
double	max_mag_thre_gyro
double	min_mag_thre_acc
double	min_mag_thre_gyro
hrp::Matrix77	P
hrp::Matrix77	P_a_priori
Eigen::Matrix3d	Q
Eigen::Matrix3d	R
hrp::Vector7	x
hrp::Vector7	x_a_priori
Eigen::Vector3d	z_k

Detailed Description

Definition at line 14 of file EKFilter.h.

Constructor & Destructor Documentation

EKFilter()

EKFilter::EKFilter ( )

inline

Definition at line 16 of file EKFilter.h.

Member Function Documentation

calcAcc()

Eigen::Vector3d EKFilter::calcAcc ( const Eigen::Vector4d &  q ) const

inline

Definition at line 86 of file EKFilter.h.

calcF()

void EKFilter::calcF ( hrp::Matrix77 &  F, const Eigen::Vector4d &  q, const Eigen::Vector3d &  gyro, const Eigen::Vector3d &  drift  ) const

inline

Definition at line 53 of file EKFilter.h.

calcH()

void EKFilter::calcH ( Eigen::Matrix< double, 3, 7 > &  H, const Eigen::Vector4d &  q  ) const

inline

Definition at line 92 of file EKFilter.h.

calcMeasurementResidual()

Eigen::Vector3d EKFilter::calcMeasurementResidual ( const Eigen::Vector3d &  acc_measured, const Eigen::Vector4d &  q  ) const

inline

Definition at line 101 of file EKFilter.h.

calcOmega()

void EKFilter::calcOmega ( Eigen::Matrix4d &  omega, const Eigen::Vector3d &  w  ) const

inline

Definition at line 30 of file EKFilter.h.

calcPredictedCovariance()

void EKFilter::calcPredictedCovariance ( hrp::Matrix77 &  _P_a_priori, const hrp::Matrix77 &  F, const Eigen::Vector4d &  q  ) const

inline

Definition at line 70 of file EKFilter.h.

calcPredictedState()

void EKFilter::calcPredictedState ( hrp::Vector7 &  _x_a_priori, const Eigen::Vector4d &  q, const Eigen::Vector3d &  gyro, const Eigen::Vector3d &  drift  ) const

inline

Definition at line 39 of file EKFilter.h.

calcRWithFuzzyRule()

void EKFilter::calcRWithFuzzyRule ( Eigen::Matrix3d &  fuzzyR, const hrp::Vector3 &  acc, const hrp::Vector3 &  gyro  ) const

inline

Definition at line 147 of file EKFilter.h.

correction()

void EKFilter::correction ( const Eigen::Vector3d &  z, const Eigen::Matrix3d &  fuzzyR  )

inline

Definition at line 122 of file EKFilter.h.

getx()

hrp::Vector7 EKFilter::getx ( ) const

inline

Definition at line 28 of file EKFilter.h.

main_one()

void EKFilter::main_one ( hrp::Vector3 &  rpy, hrp::Vector3 &  rpyRaw, const hrp::Vector3 &  acc, const hrp::Vector3 &  gyro  )

inline

Definition at line 162 of file EKFilter.h.

prediction()

void EKFilter::prediction ( const Eigen::Vector3d &  u )

inline

Definition at line 109 of file EKFilter.h.

printAll()

void EKFilter::printAll ( ) const

inline

Definition at line 136 of file EKFilter.h.

resetKalmanFilterState()

void EKFilter::resetKalmanFilterState ( )

inline

Definition at line 174 of file EKFilter.h.

setdt()

void EKFilter::setdt ( const double  _dt )

inline

Definition at line 173 of file EKFilter.h.

Member Data Documentation

dt

double EKFilter::dt

private

Definition at line 184 of file EKFilter.h.

g_vec

Eigen::Vector3d EKFilter::g_vec

private

Definition at line 183 of file EKFilter.h.

max_mag_thre_acc

double EKFilter::max_mag_thre_acc

private

Definition at line 185 of file EKFilter.h.

max_mag_thre_gyro

double EKFilter::max_mag_thre_gyro

private

Definition at line 185 of file EKFilter.h.

min_mag_thre_acc

double EKFilter::min_mag_thre_acc

private

Definition at line 185 of file EKFilter.h.

min_mag_thre_gyro

double EKFilter::min_mag_thre_gyro

private

Definition at line 185 of file EKFilter.h.

P

hrp::Matrix77 EKFilter::P

private

Definition at line 181 of file EKFilter.h.

P_a_priori

hrp::Matrix77 EKFilter::P_a_priori

private

Definition at line 181 of file EKFilter.h.

Q

Eigen::Matrix3d EKFilter::Q

private

Definition at line 182 of file EKFilter.h.

R

Eigen::Matrix3d EKFilter::R

private

Definition at line 182 of file EKFilter.h.

x

hrp::Vector7 EKFilter::x

private

Definition at line 178 of file EKFilter.h.

x_a_priori

hrp::Vector7 EKFilter::x_a_priori

private

Definition at line 178 of file EKFilter.h.

z_k

Eigen::Vector3d EKFilter::z_k

private

Definition at line 183 of file EKFilter.h.

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

• EKFilter.h