gtsam.examples.EqF.EqF Class Reference

Public Member Functions
def	__init__ (self, np.ndarray Sigma, int n, int m)
def	propagation (self, Input u, float dt)
State	stateEstimate (self)
def	update (self, Measurement y)

Private Member Functions
np.ndarray	__inputMatrixBt (self)
np.ndarray	__measurementMatrixC (self, Direction d, int idx)
np.ndarray	__outputMatrixDt (self, int idx)
np.ndarray	__stateMatrixA (self, Input u)
np.ndarray	__stateTransitionMatrix (self, Input u, float dt)

Private Attributes
	__dof
	__Dphi0
	__InnovationLift
	__n_cal
	__n_sensor
	__Sigma
	__X_hat
	__xi_0

Detailed Description

Definition at line 559 of file EqF.py.

Constructor & Destructor Documentation

__init__()

def gtsam.examples.EqF.EqF.__init__	(		self,
		np.ndarray	Sigma,
		int	n,
		int	m
	)

Initialize EqF

:param Sigma: Initial covariance
:param n: Number of calibration states
:param m: Total number of available sensor

Definition at line 560 of file EqF.py.

Member Function Documentation

__inputMatrixBt()

np.ndarray gtsam.examples.EqF.EqF.__inputMatrixBt (   self )

private

Return the Input matrix Bt

:return: numpy array representing the state matrix Bt

Definition at line 692 of file EqF.py.

__measurementMatrixC()

np.ndarray gtsam.examples.EqF.EqF.__measurementMatrixC (   self, Direction  d, int  idx  )

private

Return the measurement matrix C0 (Equation 14b)

:param d: Known direction
:param idx: index of the related calibration state
:return: numpy array representing the measurement matrix C0

Definition at line 710 of file EqF.py.

__outputMatrixDt()

np.ndarray gtsam.examples.EqF.EqF.__outputMatrixDt (   self, int  idx  )

private

Return the measurement output matrix Dt

:param idx: index of the related calibration state
:return: numpy array representing the output matrix Dt

Definition at line 728 of file EqF.py.

__stateMatrixA()

np.ndarray gtsam.examples.EqF.EqF.__stateMatrixA (   self, Input  u  )

private

Return the state matrix A0t (Equation 14a)

:param u: Input
:return: numpy array representing the state matrix A0t

Definition at line 646 of file EqF.py.

__stateTransitionMatrix()

np.ndarray gtsam.examples.EqF.EqF.__stateTransitionMatrix (   self, Input  u, float  dt  )

private

Return the state transition matrix Phi (Equation 17)

:param u: Input
:param dt: Delta time
:return: numpy array representing the state transition matrix Phi

Definition at line 667 of file EqF.py.

propagation()

def gtsam.examples.EqF.EqF.propagation	(		self,
		Input	u,
		float	dt
	)

Propagate the filter state

:param u: Angular velocity measurement from IMU
:param dt: delta time between timestamp of last propagation/update and timestamp of angular velocity measurement

Definition at line 599 of file EqF.py.

stateEstimate()

State gtsam.examples.EqF.EqF.stateEstimate

(

self

)

Return estimated state

:return: Estimated state

Definition at line 592 of file EqF.py.

update()

def gtsam.examples.EqF.EqF.update	(		self,
		Measurement	y
	)

Update the filter state

:param y: A  measurement

Definition at line 626 of file EqF.py.

Member Data Documentation

__dof

gtsam.examples.EqF.EqF.__dof

private

Definition at line 568 of file EqF.py.

__Dphi0

gtsam.examples.EqF.EqF.__Dphi0

private

Definition at line 589 of file EqF.py.

__InnovationLift

gtsam.examples.EqF.EqF.__InnovationLift

private

Definition at line 590 of file EqF.py.

__n_cal

gtsam.examples.EqF.EqF.__n_cal

private

Definition at line 569 of file EqF.py.

__n_sensor

gtsam.examples.EqF.EqF.__n_sensor

private

Definition at line 570 of file EqF.py.

__Sigma

gtsam.examples.EqF.EqF.__Sigma

private

Definition at line 587 of file EqF.py.

__X_hat

gtsam.examples.EqF.EqF.__X_hat

private

Definition at line 586 of file EqF.py.

__xi_0

gtsam.examples.EqF.EqF.__xi_0

private

Definition at line 588 of file EqF.py.

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

• EqF.py