filters.cpp File Reference

#include "filters.h"

Include dependency graph for filters.cpp:

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Macros
#define	CON_SCUL_INT_STEPS   4

Functions
float	deltaThetaDeltaVelBortz (preintegrated_imu_t *output, dual_imu_t *imu, dual_imu_t *imuLast, int Nsteps, bool enableIMU1, bool enableIMU2)
float	deltaThetaDeltaVelRiemannSum (preintegrated_imu_t *output, dual_imu_t *imu, dual_imu_t *imuLast)
float	deltaThetaDeltaVelTrapezoidal (preintegrated_imu_t *output, dual_imu_t *imu, dual_imu_t *imuLast)
void	dualToSingleImu (imu_t *result, const dual_imu_ok_t *di)
void	errorCheckDualImu (dual_imu_ok_t *di)
void	iir_filter_s16 (iif_filter_t *f, short input[], float output[])
void	iir_filter_u16 (iif_filter_t *f, unsigned short input[], float output[])
int	imuToPreintegratedImu (preintegrated_imu_t *pImu, const dual_imu_t *imu, float dt)
void	init_iir_filter (iif_filter_t *f)
void	integrateDeltaThetaVelBortz (ixVector3 theta, ixVector3 vel, imus_t *imu, imus_t *imuLast, float Nsteps, float dti)
void	integrateImu (preintegrated_imu_t *output, dual_imu_t *imu, dual_imu_t *imuLast, bool enableIMU1, bool enableIMU2)
	Compute coning and sculling integrals from gyro and accelerometer samples. More...
int	preintegratedImuToIMU (dual_imu_t *imu, const preintegrated_imu_t *pImu)
void	running_mean_filter (float input[], float mean[], int arraySize, int sampleCount)
	Running Average Filter A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0. More...
void	running_mean_filter_f64 (double mean[], float input[], int arraySize, int sampleCount)
	Running Average Filter (double) A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0. More...

Macro Definition Documentation

CON_SCUL_INT_STEPS

#define CON_SCUL_INT_STEPS   4

Definition at line 232 of file filters.cpp.

Function Documentation

deltaThetaDeltaVelBortz()

float deltaThetaDeltaVelBortz	(	preintegrated_imu_t *	output,
		dual_imu_t *	imu,
		dual_imu_t *	imuLast,
		int	Nsteps,
		bool	enableIMU1,
		bool	enableIMU2
	)

Definition at line 352 of file filters.cpp.

deltaThetaDeltaVelRiemannSum()

float deltaThetaDeltaVelRiemannSum	(	preintegrated_imu_t *	output,
		dual_imu_t *	imu,
		dual_imu_t *	imuLast
	)

Definition at line 256 of file filters.cpp.

deltaThetaDeltaVelTrapezoidal()

float deltaThetaDeltaVelTrapezoidal	(	preintegrated_imu_t *	output,
		dual_imu_t *	imu,
		dual_imu_t *	imuLast
	)

Definition at line 280 of file filters.cpp.

dualToSingleImu()

void dualToSingleImu	(	imu_t *	result,
		const dual_imu_ok_t *	di
	)

Definition at line 171 of file filters.cpp.

errorCheckDualImu()

void errorCheckDualImu

(

dual_imu_ok_t *

di

)

Definition at line 153 of file filters.cpp.

iir_filter_s16()

void iir_filter_s16	(	iif_filter_t *	f,
		short	input[],
		float	output[]
	)

Definition at line 78 of file filters.cpp.

iir_filter_u16()

void iir_filter_u16	(	iif_filter_t *	f,
		unsigned short	input[],
		float	output[]
	)

Definition at line 61 of file filters.cpp.

imuToPreintegratedImu()

int imuToPreintegratedImu	(	preintegrated_imu_t *	pImu,
		const dual_imu_t *	imu,
		float	dt
	)

Definition at line 215 of file filters.cpp.

init_iir_filter()

void init_iir_filter

(

iif_filter_t *

f

)

Definition at line 36 of file filters.cpp.

integrateDeltaThetaVelBortz()

void integrateDeltaThetaVelBortz	(	ixVector3	theta,
		ixVector3	vel,
		imus_t *	imu,
		imus_t *	imuLast,
		float	Nsteps,
		float	dti
	)

Definition at line 306 of file filters.cpp.

integrateImu()

void integrateImu	(	preintegrated_imu_t *	output,
		dual_imu_t *	imu,
		dual_imu_t *	imuLast,
		bool	enableIMU1,
		bool	enableIMU2
	)

Compute coning and sculling integrals from gyro and accelerometer samples.

Parameters

output	Coning and sculling integral
imu	Gyro and accelerometer sample.
imuLast	Previous gyro and accelerometer sample.

Definition at line 234 of file filters.cpp.

preintegratedImuToIMU()

int preintegratedImuToIMU	(	dual_imu_t *	imu,
		const preintegrated_imu_t *	pImu
	)

Definition at line 198 of file filters.cpp.

running_mean_filter()

void running_mean_filter	(	float	input[],
		float	mean[],
		int	arraySize,
		int	sampleCount
	)

Running Average Filter A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0.

Parameters

input	Floating point value to be included in the average.
mean	Average of input
arraySize	Array length of mean and input arrays.
sampleCount	Sample number of input. 0 causes filter to be reset.

Definition at line 111 of file filters.cpp.

running_mean_filter_f64()

void running_mean_filter_f64	(	double	mean[],
		float	input[],
		int	arraySize,
		int	sampleCount
	)

Running Average Filter (double) A running average of the input array is collected in the mean array. Filter is reset when sampleCount equals 0.

Parameters

input	Double (float 64) value to be included in the average.
mean	Average of input
arraySize	Array length of mean and input arrays.
sampleCount	Sample number of input. 0 causes filter to be reset.

Definition at line 137 of file filters.cpp.