Public Member Functions | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
rtabmap::ComplementaryFilter Class Reference

#include <ComplementaryFilter.h>

Inheritance diagram for rtabmap::ComplementaryFilter:
Inheritance graph
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Public Member Functions

 ComplementaryFilter (const ParametersMap &parameters=ParametersMap())
 
double getAngularVelocityBiasX () const
 
double getAngularVelocityBiasY () const
 
double getAngularVelocityBiasZ () const
 
double getBiasAlpha () const
 
bool getDoAdaptiveGain () const
 
bool getDoBiasEstimation () const
 
double getGainAcc () const
 
virtual void getOrientation (double &qx, double &qy, double &qz, double &qw) const
 
bool getSteadyState () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
virtual void reset (double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)
 
bool setBiasAlpha (double bias_alpha)
 
void setDoAdaptiveGain (bool do_adaptive_gain)
 
void setDoBiasEstimation (bool do_bias_estimation)
 
bool setGainAcc (double gain)
 
virtual IMUFilter::Type type () const
 
virtual void updateImpl (double gx, double gy, double gz, double ax, double ay, double az, double dt)
 
virtual ~ComplementaryFilter ()
 
- Public Member Functions inherited from rtabmap::IMUFilter
void update (double gx, double gy, double gz, double ax, double ay, double az, double stamp)
 
virtual ~IMUFilter ()
 

Private Member Functions

bool checkState (double ax, double ay, double az, double wx, double wy, double wz) const
 
void getAccCorrection (double ax, double ay, double az, double p0, double p1, double p2, double p3, double &dq0, double &dq1, double &dq2, double &dq3)
 
double getAdaptiveGain (double alpha, double ax, double ay, double az)
 
void getMeasurement (double ax, double ay, double az, double &q0_meas, double &q1_meas, double &q2_meas, double &q3_meas)
 
void getMeasurement (double ax, double ay, double az, double mx, double my, double mz, double &q0_meas, double &q1_meas, double &q2_meas, double &q3_meas)
 
void getPrediction (double wx, double wy, double wz, double dt, double &q0_pred, double &q1_pred, double &q2_pred, double &q3_pred) const
 
void updateBiases (double ax, double ay, double az, double wx, double wy, double wz)
 

Private Attributes

double bias_alpha_
 
bool do_adaptive_gain_
 
bool do_bias_estimation_
 
double gain_acc_
 
bool initialized_
 
double q0_
 
double q1_
 
double q2_
 
double q3_
 
bool steady_state_
 
double wx_bias_
 
double wx_prev_
 
double wy_bias_
 
double wy_prev_
 
double wz_bias_
 
double wz_prev_
 

Static Private Attributes

static const double gamma_ = 0.01
 
static const double kAccelerationThreshold = 0.1
 
static const double kAngularVelocityThreshold = 0.2
 
static const double kDeltaAngularVelocityThreshold = 0.01
 
static const double kGravity = 9.81
 

Additional Inherited Members

- Public Types inherited from rtabmap::IMUFilter
enum  Type { kMadgwick =0, kComplementaryFilter =1 }
 
- Static Public Member Functions inherited from rtabmap::IMUFilter
static IMUFilter * create (const ParametersMap &parameters=ParametersMap())
 
static IMUFilter * create (IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
 
- Protected Member Functions inherited from rtabmap::IMUFilter
 IMUFilter (const ParametersMap &parameters=ParametersMap())
 

Detailed Description

Definition at line 37 of file ComplementaryFilter.h.

Constructor & Destructor Documentation

◆ ComplementaryFilter()

rtabmap::ComplementaryFilter::ComplementaryFilter ( const ParametersMap &  parameters = ParametersMap())

Definition at line 47 of file ComplementaryFilter.cpp.

◆ ~ComplementaryFilter()

virtual rtabmap::ComplementaryFilter::~ComplementaryFilter ( )
inlinevirtual

Definition at line 41 of file ComplementaryFilter.h.

Member Function Documentation

◆ checkState()

bool rtabmap::ComplementaryFilter::checkState ( double  ax,
double  ay,
double  az,
double  wx,
double  wy,
double  wz 
) const
private

Definition at line 217 of file ComplementaryFilter.cpp.

◆ getAccCorrection()

void rtabmap::ComplementaryFilter::getAccCorrection ( double  ax,
double  ay,
double  az,
double  p0,
double  p1,
double  p2,
double  p3,
double &  dq0,
double &  dq1,
double &  dq2,
double &  dq3 
)
private

Definition at line 354 of file ComplementaryFilter.cpp.

◆ getAdaptiveGain()

double rtabmap::ComplementaryFilter::getAdaptiveGain ( double  alpha,
double  ax,
double  ay,
double  az 
)
private

Definition at line 383 of file ComplementaryFilter.cpp.

◆ getAngularVelocityBiasX()

double rtabmap::ComplementaryFilter::getAngularVelocityBiasX ( ) const

Definition at line 144 of file ComplementaryFilter.cpp.

◆ getAngularVelocityBiasY()

double rtabmap::ComplementaryFilter::getAngularVelocityBiasY ( ) const

Definition at line 149 of file ComplementaryFilter.cpp.

◆ getAngularVelocityBiasZ()

double rtabmap::ComplementaryFilter::getAngularVelocityBiasZ ( ) const

Definition at line 154 of file ComplementaryFilter.cpp.

◆ getBiasAlpha()

double rtabmap::ComplementaryFilter::getBiasAlpha ( ) const

Definition at line 122 of file ComplementaryFilter.cpp.

◆ getDoAdaptiveGain()

bool rtabmap::ComplementaryFilter::getDoAdaptiveGain ( ) const

Definition at line 85 of file ComplementaryFilter.cpp.

◆ getDoBiasEstimation()

bool rtabmap::ComplementaryFilter::getDoBiasEstimation ( ) const

Definition at line 75 of file ComplementaryFilter.cpp.

◆ getGainAcc()

double rtabmap::ComplementaryFilter::getGainAcc ( ) const

Definition at line 101 of file ComplementaryFilter.cpp.

◆ getMeasurement() [1/2]

void rtabmap::ComplementaryFilter::getMeasurement ( double  ax,
double  ay,
double  az,
double &  q0_meas,
double &  q1_meas,
double &  q2_meas,
double &  q3_meas 
)
private

Definition at line 326 of file ComplementaryFilter.cpp.

◆ getMeasurement() [2/2]

void rtabmap::ComplementaryFilter::getMeasurement ( double  ax,
double  ay,
double  az,
double  mx,
double  my,
double  mz,
double &  q0_meas,
double &  q1_meas,
double &  q2_meas,
double &  q3_meas 
)
private

Definition at line 270 of file ComplementaryFilter.cpp.

◆ getOrientation()

void rtabmap::ComplementaryFilter::getOrientation ( double &  qx,
double &  qy,
double &  qz,
double &  qw 
) const
virtual

Implements rtabmap::IMUFilter.

Definition at line 376 of file ComplementaryFilter.cpp.

◆ getPrediction()

void rtabmap::ComplementaryFilter::getPrediction ( double  wx,
double  wy,
double  wz,
double  dt,
double &  q0_pred,
double &  q1_pred,
double &  q2_pred,
double &  q3_pred 
) const
private

Definition at line 254 of file ComplementaryFilter.cpp.

◆ getSteadyState()

bool rtabmap::ComplementaryFilter::getSteadyState ( ) const

Definition at line 106 of file ComplementaryFilter.cpp.

◆ parseParameters()

void rtabmap::ComplementaryFilter::parseParameters ( const ParametersMap &  parameters)
virtual

Reimplemented from rtabmap::IMUFilter.

Definition at line 62 of file ComplementaryFilter.cpp.

◆ reset()

void rtabmap::ComplementaryFilter::reset ( double  qx = 0.0,
double  qy = 0.0,
double  qz = 0.0,
double  qw = 1.0 
)
virtual

Implements rtabmap::IMUFilter.

Definition at line 127 of file ComplementaryFilter.cpp.

◆ setBiasAlpha()

bool rtabmap::ComplementaryFilter::setBiasAlpha ( double  bias_alpha)

Definition at line 111 of file ComplementaryFilter.cpp.

◆ setDoAdaptiveGain()

void rtabmap::ComplementaryFilter::setDoAdaptiveGain ( bool  do_adaptive_gain)

Definition at line 80 of file ComplementaryFilter.cpp.

◆ setDoBiasEstimation()

void rtabmap::ComplementaryFilter::setDoBiasEstimation ( bool  do_bias_estimation)

Definition at line 70 of file ComplementaryFilter.cpp.

◆ setGainAcc()

bool rtabmap::ComplementaryFilter::setGainAcc ( double  gain)

Definition at line 90 of file ComplementaryFilter.cpp.

◆ type()

virtual IMUFilter::Type rtabmap::ComplementaryFilter::type ( ) const
inlinevirtual

Implements rtabmap::IMUFilter.

Definition at line 64 of file ComplementaryFilter.h.

◆ updateBiases()

void rtabmap::ComplementaryFilter::updateBiases ( double  ax,
double  ay,
double  az,
double  wx,
double  wy,
double  wz 
)
private

Definition at line 237 of file ComplementaryFilter.cpp.

◆ updateImpl()

void rtabmap::ComplementaryFilter::updateImpl ( double  gx,
double  gy,
double  gz,
double  ax,
double  ay,
double  az,
double  dt 
)
virtual

Implements rtabmap::IMUFilter.

Definition at line 159 of file ComplementaryFilter.cpp.

Member Data Documentation

◆ bias_alpha_

double rtabmap::ComplementaryFilter::bias_alpha_
private

Definition at line 89 of file ComplementaryFilter.h.

◆ do_adaptive_gain_

bool rtabmap::ComplementaryFilter::do_adaptive_gain_
private

Definition at line 95 of file ComplementaryFilter.h.

◆ do_bias_estimation_

bool rtabmap::ComplementaryFilter::do_bias_estimation_
private

Definition at line 92 of file ComplementaryFilter.h.

◆ gain_acc_

double rtabmap::ComplementaryFilter::gain_acc_
private

Definition at line 86 of file ComplementaryFilter.h.

◆ gamma_

const double rtabmap::ComplementaryFilter::gamma_ = 0.01
staticprivate

Definition at line 79 of file ComplementaryFilter.h.

◆ initialized_

bool rtabmap::ComplementaryFilter::initialized_
private

Definition at line 97 of file ComplementaryFilter.h.

◆ kAccelerationThreshold

const double rtabmap::ComplementaryFilter::kAccelerationThreshold = 0.1
staticprivate

Definition at line 82 of file ComplementaryFilter.h.

◆ kAngularVelocityThreshold

const double rtabmap::ComplementaryFilter::kAngularVelocityThreshold = 0.2
staticprivate

Definition at line 81 of file ComplementaryFilter.h.

◆ kDeltaAngularVelocityThreshold

const double rtabmap::ComplementaryFilter::kDeltaAngularVelocityThreshold = 0.01
staticprivate

Definition at line 83 of file ComplementaryFilter.h.

◆ kGravity

const double rtabmap::ComplementaryFilter::kGravity = 9.81
staticprivate

Definition at line 78 of file ComplementaryFilter.h.

◆ q0_

double rtabmap::ComplementaryFilter::q0_
private

Definition at line 102 of file ComplementaryFilter.h.

◆ q1_

double rtabmap::ComplementaryFilter::q1_
private

Definition at line 102 of file ComplementaryFilter.h.

◆ q2_

double rtabmap::ComplementaryFilter::q2_
private

Definition at line 102 of file ComplementaryFilter.h.

◆ q3_

double rtabmap::ComplementaryFilter::q3_
private

Definition at line 102 of file ComplementaryFilter.h.

◆ steady_state_

bool rtabmap::ComplementaryFilter::steady_state_
private

Definition at line 98 of file ComplementaryFilter.h.

◆ wx_bias_

double rtabmap::ComplementaryFilter::wx_bias_
private

Definition at line 108 of file ComplementaryFilter.h.

◆ wx_prev_

double rtabmap::ComplementaryFilter::wx_prev_
private

Definition at line 105 of file ComplementaryFilter.h.

◆ wy_bias_

double rtabmap::ComplementaryFilter::wy_bias_
private

Definition at line 108 of file ComplementaryFilter.h.

◆ wy_prev_

double rtabmap::ComplementaryFilter::wy_prev_
private

Definition at line 105 of file ComplementaryFilter.h.

◆ wz_bias_

double rtabmap::ComplementaryFilter::wz_bias_
private

Definition at line 108 of file ComplementaryFilter.h.

◆ wz_prev_

double rtabmap::ComplementaryFilter::wz_prev_
private

Definition at line 105 of file ComplementaryFilter.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00