#include <LDTravModelExtended.hpp>

Inheritance diagram for labust::navigation::LDTravModel:

Classes
struct	ModelParams
Public Types
enum	{ inputSize = 6 }
enum	{ measSize = 7 }
enum	{ X = 0, Y, Z, Kroll, M, 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 }
typedef vector	input_type
typedef vector	output_type
Public Member Functions
double	calculateAltInovationVariance (const matrix &P)
void	calculateUVInovationVariance (const matrix &P, double &uin, double &vin)
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
void	estimate_y (output_type &y)
void	getNEDSpeed (double &xdot, double &ydot)
void	initModel ()
	LDTravModel ()
void	setDVLRotationTrustFactor (double trustf)
void	setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &heave, const ModelParams &roll, const ModelParams &pitch, const ModelParams &yaw)
void	setSwayCorrection (double kvr)
void	step (const input_type &input)
const output_type &	update (vector &measurements, vector &newMeas)
void	useDvlModel (int flag)
	~LDTravModel ()
Protected Member Functions
void	derivativeAW ()
void	derivativeH ()
void	derivativeHV (int num)
Protected Attributes
int	dvlModel
ModelParams	heave
matrix	Hnl
double	kvr
	The sway correction factor.
output_type	measurement
ModelParams	pitch
ModelParams	roll
ModelParams	surge
ModelParams	sway
double	trustf
	DVL rotation trust factor.
double	xdot
vector	y
ModelParams	yaw
double	ydot
vector	ynl
Private Types
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

Definition at line 51 of file LDTravModelExtended.hpp.

Member Typedef Documentation

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

Reimplemented in labust::navigation::KFCore< labust::navigation::LDTravModel >.

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::output_type

Definition at line 56 of file LDTravModelExtended.hpp.

Member Enumeration Documentation

anonymous enum

Enumerator:

inputSize

Definition at line 80 of file LDTravModelExtended.hpp.

anonymous enum

Enumerator:

measSize

Definition at line 81 of file LDTravModelExtended.hpp.

anonymous enum

Enumerator:

X
Y
Z
Kroll
M
N

Definition at line 83 of file LDTravModelExtended.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.

Constructor & Destructor Documentation

LDTravModel::LDTravModel ( )

The default constructor.

Definition at line 44 of file LDTravModelExtended.cpp.

LDTravModel::~LDTravModel ( )

Generic destructor.

Definition at line 54 of file LDTravModelExtended.cpp.

Member Function Documentation

double LDTravModel::calculateAltInovationVariance ( const matrix & P )

Definition at line 76 of file LDTravModelExtended.cpp.

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

Definition at line 81 of file LDTravModelExtended.cpp.

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

Definition at line 70 of file LDTravModelExtended.cpp.

void LDTravModel::derivativeAW ( ) [protected]

Calculate the Jacobian matrices.

Definition at line 126 of file LDTravModelExtended.cpp.

void LDTravModel::derivativeH ( ) [protected]

Calculate the nonlinear H derivative.

Definition at line 226 of file LDTravModelExtended.cpp.

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

Calculate the Jacobian matrices.

void LDTravModel::estimate_y ( output_type & y )

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

Definition at line 221 of file LDTravModelExtended.cpp.

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

Return the speeds in the local frame.

Definition at line 141 of file LDTravModelExtended.hpp.

void LDTravModel::initModel ( )

Initialize the model to default values

Definition at line 56 of file LDTravModelExtended.cpp.

void labust::navigation::LDTravModel::setDVLRotationTrustFactor ( double trustf ) [inline]

Definition at line 149 of file LDTravModelExtended.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]`