#include <LDTravModel.hpp>

Inheritance diagram for labust::navigation::LDTravModel:

Classes
struct	ModelParams
Public Types
enum	{ X = 0, Y, Z, Kroll, M, N }
enum	{ u = 0, v, w, r, xp, yp, zp, psi, xc, yc, b, buoyancy }
enum	{ stateNum = 12 }
enum	{ inputSize = 4 }
enum	{ measSize = 7 }
enum	{ X = 0, Y, Z, N }
enum	{ u = 0, v, w, p, q, r, xp, yp, zp, phi, theta, psi, xc, yc, b, buoyancy, roll_restore, pitch_restore, altitude, stateNum = 12 }
enum	{ inputSize = 4 }
enum	{ measSize = 7 }
typedef vector	input_type
typedef vector	input_type
typedef vector	output_type
typedef vector	output_type
Public Member Functions
void	calculateUVInovationVariance (const matrix &P, double &uin, double &vin)
void	calculateUVInovationVariance (const matrix &P, double &uin, double &vin)
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
void	estimate_y (output_type &y)
void	estimate_y (output_type &y)
void	getNEDSpeed (double &xdot, double &ydot)
void	getNEDSpeed (double &xdot, double &ydot)
void	initModel ()
void	initModel ()
	LDTravModel ()
	LDTravModel ()
void	setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &heave, const ModelParams &yaw)
void	setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &heave, const ModelParams &roll, const ModelParams &pitch, const ModelParams &yaw)
void	step (const input_type &input)
void	step (const input_type &input)
const output_type &	update (vector &measurements, vector &newMeas)
const output_type &	update (vector &measurements, vector &newMeas)
void	useDvlModel (int flag)
void	useDvlModel (int flag)
	~LDTravModel ()
	~LDTravModel ()
Protected Member Functions
void	derivativeAW ()
void	derivativeAW ()
void	derivativeH ()
void	derivativeH ()
void	derivativeHV (int num)
void	derivativeHV (int num)
Protected Attributes
int	dvlModel
ModelParams	heave
matrix	Hnl
output_type	measurement
ModelParams	pitch
ModelParams	roll
ModelParams	surge
ModelParams	sway
double	xdot
vector	y
ModelParams	yaw
double	ydot
vector	ynl
Private Types
typedef SSModel< double >	Base
typedef SSModel< double >	Base

Detailed Description

This class implements a EKF filter for the LDTravOcean ROV.

Todo:

Extract the update method into a separate file for future use.

Extract the ModelParams to a snippet

This class implements a EKF filter for the LDTravOcean ROV.

Todo:

Extract the update method into a separate file for future use.

Extract the ModelParams to a snippet

Definition at line 51 of file LDTravModel.hpp.

Member Typedef Documentation

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

Definition at line 53 of file LDTravModel.hpp.

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

Definition at line 53 of file LDTravModelExtended.hpp.

typedef vector labust::navigation::LDTravModel::input_type

Definition at line 55 of file LDTravModelExtended.hpp.

typedef vector labust::navigation::LDTravModel::input_type

Definition at line 55 of file LDTravModel.hpp.

typedef vector labust::navigation::LDTravModel::output_type

Definition at line 56 of file LDTravModel.hpp.

typedef vector labust::navigation::LDTravModel::output_type

Definition at line 56 of file LDTravModelExtended.hpp.

Member Enumeration Documentation

anonymous enum

Enumerator:

X
Y
Z
Kroll
M
N

Definition at line 83 of file LDTravModelExtended.hpp.

anonymous enum

Enumerator:

u
v
w
r
xp
yp
zp
psi
xc
yc
b
buoyancy

Definition at line 78 of file LDTravModel.hpp.

anonymous enum

Enumerator:

stateNum

Definition at line 79 of file LDTravModel.hpp.

anonymous enum

Enumerator:

inputSize

Definition at line 80 of file LDTravModel.hpp.

anonymous enum

Enumerator:

measSize

Definition at line 81 of file LDTravModel.hpp.

anonymous enum

Enumerator:

X
Y
Z
N

Definition at line 82 of file LDTravModel.hpp.

anonymous enum

Enumerator:

u
v
w
p
q
r
xp
yp
zp
phi
theta
psi
xc
yc
b
buoyancy
roll_restore
pitch_restore
altitude
stateNum

Definition at line 78 of file LDTravModelExtended.hpp.

anonymous enum

Enumerator:

inputSize

Definition at line 80 of file LDTravModelExtended.hpp.

anonymous enum

Enumerator:

measSize

Definition at line 81 of file LDTravModelExtended.hpp.

Constructor & Destructor Documentation

LDTravModel::LDTravModel ( )

The default constructor.

Definition at line 44 of file LDTravModel.cpp.

LDTravModel::~LDTravModel ( )

Generic destructor.

Definition at line 50 of file LDTravModel.cpp.

labust::navigation::LDTravModel::LDTravModel ( )

The default constructor.

labust::navigation::LDTravModel::~LDTravModel ( )

Generic destructor.

Member Function Documentation

void LDTravModel::calculateUVInovationVariance	(	const matrix &	P,
		double &	uin,
		double &	vin
	)

Definition at line 72 of file LDTravModel.cpp.

void labust::navigation::LDTravModel::calculateUVInovationVariance	(	const matrix &	P,
		double &	uin,
		double &	vin
	)

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

Definition at line 66 of file LDTravModel.cpp.

void labust::navigation::LDTravModel::calculateXYInovationVariance	(	const matrix &	P,
		double &	xin,
		double &	yin
	)

void LDTravModel::derivativeAW ( ) [protected]

Calculate the Jacobian matrices.

Definition at line 99 of file LDTravModel.cpp.

void labust::navigation::LDTravModel::derivativeAW ( ) [protected]

Calculate the Jacobian matrices.

void LDTravModel::derivativeH ( ) [protected]

Calculate the nonlinear H derivative.

Definition at line 184 of file LDTravModel.cpp.

void labust::navigation::LDTravModel::derivativeH ( ) [protected]

Calculate the nonlinear H derivative.

void labust::navigation::LDTravModel::derivativeHV ( int num ) [protected]

Calculate the Jacobian matrices.

void labust::navigation::LDTravModel::derivativeHV ( int num ) [protected]

Calculate the Jacobian matrices.

void labust::navigation::LDTravModel::estimate_y ( output_type & y )

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

void labust::navigation::LDTravModel::estimate_y ( output_type & y )

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

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

Return the speeds in the local frame.

Definition at line 135 of file LDTravModel.hpp.

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

Return the speeds in the local frame.

Definition at line 140 of file LDTravModelExtended.hpp.

void LDTravModel::initModel ( )

Initialize the model to default values

Definition at line 52 of file LDTravModel.cpp.

void labust::navigation::LDTravModel::initModel ( )

Initialize the model to default values

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

Set the model parameters.

Definition at line 118 of file LDTravModel.hpp.

void labust::navigation::LDTravModel::setParameters	(	const ModelParams &	surge,
		const ModelParams &	sway,
		const ModelParams &	heave,
		const ModelParams &	roll,
		const ModelParams &	pitch,
		const ModelParams &	yaw
	)		`[inline]`