labust::navigation::XYModel Class Reference

#include <XYModel.hpp>

Inheritance diagram for labust::navigation::XYModel:

List of all members.

Classes
struct	ModelParams
Public Types
enum	{ measSize = 3 }
enum	{ X = 0, Y, N }
enum	{ x_m = 0, y_m, psi_m, psiOnly_m = 0 }
enum	{   u = 0, v, r, xp,   yp, psi, xc, yc,   b1, b2 }
enum	{ stateNum = 10 }
enum	{ inputSize = 3 }
typedef vector	input_type
typedef vector	output_type
Public Member Functions
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
void	estimate_y (output_type &y)
const output_type &	fullUpdate (double x, double y, double yaw)
void	getNEDSpeed (double &xdot, double &ydot)
void	initModel ()
const output_type &	positionUpdate (double x, double y)
void	setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &yaw)
void	step (const input_type &input)
const output_type &	update (vector &measurements, vector &newMeas)
	XYModel ()
const output_type &	yawUpdate (double yaw)
	~XYModel ()
Protected Member Functions
void	derivativeAW ()
void	derivativeHV (int num)
Protected Attributes
output_type	measurement
ModelParams	surge
ModelParams	sway
double	xdot
ModelParams	yaw
double	ydot
Private Types
typedef SSModel< double >	Base

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Detailed Description

This class implements a x-y surface dynamic model for the EKF filter.

Definition at line 48 of file XYModel.hpp.

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Member Typedef Documentation

typedef SSModel<double> labust::navigation::XYModel::Base [private]

Definition at line 50 of file XYModel.hpp.

typedef vector labust::navigation::XYModel::input_type

Definition at line 52 of file XYModel.hpp.

typedef vector labust::navigation::XYModel::output_type

Definition at line 53 of file XYModel.hpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

measSize

Definition at line 78 of file XYModel.hpp.

anonymous enum

Enumerator:

X
Y
N

Definition at line 79 of file XYModel.hpp.

anonymous enum

Enumerator:

x_m
y_m
psi_m
psiOnly_m

Definition at line 80 of file XYModel.hpp.

anonymous enum

Enumerator:

u
v
r
xp
yp
psi
xc
yc
b1
b2

Definition at line 75 of file XYModel.hpp.

anonymous enum

Enumerator:

stateNum

Definition at line 76 of file XYModel.hpp.

anonymous enum

Enumerator:

inputSize

Definition at line 77 of file XYModel.hpp.

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Constructor & Destructor Documentation

XYModel::XYModel

(

)

The default constructor.

Definition at line 42 of file XYModel.cpp.

XYModel::~XYModel

(

)

Generic destructor.

Definition at line 49 of file XYModel.cpp.

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Member Function Documentation

void XYModel::calculateXYInovationVariance	(	const matrix &	P,
		double &	xin,
		double &	yin
	)

Definition at line 129 of file XYModel.cpp.

void XYModel::derivativeAW

(

)

[protected]

Calculate the Jacobian matrices.

Definition at line 152 of file XYModel.cpp.

void labust::navigation::XYModel::derivativeHV

(

int

num

)

[protected]

Calculate the Jacobian matrices.

void XYModel::estimate_y

(

output_type &

y

)

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

Definition at line 202 of file XYModel.cpp.

const output_type& labust::navigation::XYModel::fullUpdate	(	double	x,
		double	y,
		double	yaw
	)

Setup the measurement matrix for full update.

void labust::navigation::XYModel::getNEDSpeed	(	double &	xdot,
		double &	ydot
	)		[inline]

Return the speeds in the local frame.

Definition at line 145 of file XYModel.hpp.

void XYModel::initModel

(

)

Initialize the model to default values

Definition at line 51 of file XYModel.cpp.

const output_type& labust::navigation::XYModel::positionUpdate	(	double	x,
		double	y
	)

Setup the measurement matrix for position update.

void labust::navigation::XYModel::setParameters	(	const ModelParams &	surge,
		const ModelParams &	sway,
		const ModelParams &	yaw
	)		[inline]

Set the model parameters.

Definition at line 131 of file XYModel.hpp.

void XYModel::step

(

const input_type &

input

)

Perform a prediction step based on the system input.

Parameters:

u	System input.

Definition at line 135 of file XYModel.cpp.

const XYModel::output_type & XYModel::update	(	vector &	measurements,
		vector &	newMeas
	)

Setup the measurement matrix for available measurements.

Definition at line 62 of file XYModel.cpp.

const output_type& labust::navigation::XYModel::yawUpdate

(

double

yaw

)

Setup the measurement matrix for heading only.

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Member Data Documentation

output_type labust::navigation::XYModel::measurement [protected]

The newest measurement.

Definition at line 168 of file XYModel.hpp.

ModelParams labust::navigation::XYModel::surge [protected]

The model parameters.

Definition at line 164 of file XYModel.hpp.

ModelParams labust::navigation::XYModel::sway [protected]

Definition at line 164 of file XYModel.hpp.

double labust::navigation::XYModel::xdot [protected]

The NED speeds.

Definition at line 172 of file XYModel.hpp.

ModelParams labust::navigation::XYModel::yaw [protected]

Definition at line 164 of file XYModel.hpp.

double labust::navigation::XYModel::ydot [protected]

Definition at line 172 of file XYModel.hpp.

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

• XYModel.hpp
• XYModel.cpp