EKFilter Class Reference

#include <EKFilter.h>

List of all members.

Public Member Functions
Eigen::Vector3d	calcAcc (const Eigen::Vector4d &q) const
void	calcF (hrp::Matrix77 &F, const Eigen::Vector4d &q, const Eigen::Vector3d &gyro, const Eigen::Vector3d &drift) const
void	calcH (Eigen::Matrix< double, 3, 7 > &H, const Eigen::Vector4d &q) const
Eigen::Vector3d	calcMeasurementResidual (const Eigen::Vector3d &acc_measured, const Eigen::Vector4d &q) const
void	calcOmega (Eigen::Matrix4d &omega, const Eigen::Vector3d &w) const
void	calcPredictedCovariance (hrp::Matrix77 &_P_a_priori, const hrp::Matrix77 &F, const Eigen::Vector4d &q) const
void	calcPredictedState (hrp::Vector7 &_x_a_priori, const Eigen::Vector4d &q, const Eigen::Vector3d &gyro, const Eigen::Vector3d &drift) const
void	calcRWithFuzzyRule (Eigen::Matrix3d &fuzzyR, const hrp::Vector3 &acc, const hrp::Vector3 &gyro) const
void	correction (const Eigen::Vector3d &z, const Eigen::Matrix3d &fuzzyR)
	EKFilter ()
hrp::Vector7	getx () const
void	main_one (hrp::Vector3 &rpy, hrp::Vector3 &rpyRaw, const hrp::Vector3 &acc, const hrp::Vector3 &gyro)
void	prediction (const Eigen::Vector3d &u)
void	printAll () const
void	resetKalmanFilterState ()
void	setdt (const double _dt)
Private Attributes
double	dt
Eigen::Vector3d	g_vec
double	max_mag_thre_acc
double	max_mag_thre_gyro
double	min_mag_thre_acc
double	min_mag_thre_gyro
hrp::Matrix77	P
hrp::Matrix77	P_a_priori
Eigen::Matrix3d	Q
Eigen::Matrix3d	R
hrp::Vector7	x
hrp::Vector7	x_a_priori
Eigen::Vector3d	z_k

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Detailed Description

Definition at line 14 of file EKFilter.h.

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Constructor & Destructor Documentation

EKFilter::EKFilter

(

)

[inline]

Definition at line 16 of file EKFilter.h.

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Member Function Documentation

Eigen::Vector3d EKFilter::calcAcc

(

const Eigen::Vector4d &

q

)

const [inline]

Definition at line 86 of file EKFilter.h.

void EKFilter::calcF	(	hrp::Matrix77 &	F,
		const Eigen::Vector4d &	q,
		const Eigen::Vector3d &	gyro,
		const Eigen::Vector3d &	drift
	)		const [inline]

Definition at line 53 of file EKFilter.h.

void EKFilter::calcH	(	Eigen::Matrix< double, 3, 7 > &	H,
		const Eigen::Vector4d &	q
	)		const [inline]

Definition at line 92 of file EKFilter.h.

Eigen::Vector3d EKFilter::calcMeasurementResidual	(	const Eigen::Vector3d &	acc_measured,
		const Eigen::Vector4d &	q
	)		const [inline]

Definition at line 101 of file EKFilter.h.

void EKFilter::calcOmega	(	Eigen::Matrix4d &	omega,
		const Eigen::Vector3d &	w
	)		const [inline]

Definition at line 30 of file EKFilter.h.

void EKFilter::calcPredictedCovariance	(	hrp::Matrix77 &	_P_a_priori,
		const hrp::Matrix77 &	F,
		const Eigen::Vector4d &	q
	)		const [inline]

Definition at line 70 of file EKFilter.h.

void EKFilter::calcPredictedState	(	hrp::Vector7 &	_x_a_priori,
		const Eigen::Vector4d &	q,
		const Eigen::Vector3d &	gyro,
		const Eigen::Vector3d &	drift
	)		const [inline]

Definition at line 39 of file EKFilter.h.

void EKFilter::calcRWithFuzzyRule	(	Eigen::Matrix3d &	fuzzyR,
		const hrp::Vector3 &	acc,
		const hrp::Vector3 &	gyro
	)		const [inline]

Definition at line 147 of file EKFilter.h.

void EKFilter::correction	(	const Eigen::Vector3d &	z,
		const Eigen::Matrix3d &	fuzzyR
	)		[inline]

Definition at line 122 of file EKFilter.h.

hrp::Vector7 EKFilter::getx

(

)

const [inline]

Definition at line 28 of file EKFilter.h.

void EKFilter::main_one	(	hrp::Vector3 &	rpy,
		hrp::Vector3 &	rpyRaw,
		const hrp::Vector3 &	acc,
		const hrp::Vector3 &	gyro
	)		[inline]

Definition at line 162 of file EKFilter.h.

void EKFilter::prediction

(

const Eigen::Vector3d &

u

)

[inline]

Definition at line 109 of file EKFilter.h.

void EKFilter::printAll

(

)

const [inline]

Definition at line 136 of file EKFilter.h.

void EKFilter::resetKalmanFilterState

(

)

[inline]

Definition at line 174 of file EKFilter.h.

void EKFilter::setdt

(

const double

_dt

)

[inline]

Definition at line 173 of file EKFilter.h.

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Member Data Documentation

double EKFilter::dt [private]

Definition at line 184 of file EKFilter.h.

Eigen::Vector3d EKFilter::g_vec [private]

Definition at line 183 of file EKFilter.h.

double EKFilter::max_mag_thre_acc [private]

Definition at line 185 of file EKFilter.h.

double EKFilter::max_mag_thre_gyro [private]

Definition at line 185 of file EKFilter.h.

double EKFilter::min_mag_thre_acc [private]

Definition at line 185 of file EKFilter.h.

double EKFilter::min_mag_thre_gyro [private]

Definition at line 185 of file EKFilter.h.

hrp::Matrix77 EKFilter::P [private]

Definition at line 181 of file EKFilter.h.

hrp::Matrix77 EKFilter::P_a_priori [private]

Definition at line 181 of file EKFilter.h.

Eigen::Matrix3d EKFilter::Q [private]

Definition at line 182 of file EKFilter.h.

Eigen::Matrix3d EKFilter::R [private]

Definition at line 182 of file EKFilter.h.

hrp::Vector7 EKFilter::x [private]

Definition at line 178 of file EKFilter.h.

hrp::Vector7 EKFilter::x_a_priori [private]

Definition at line 178 of file EKFilter.h.

Eigen::Vector3d EKFilter::z_k [private]

Definition at line 183 of file EKFilter.h.

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

• EKFilter.h