Public Member Functions | Protected Attributes | Private Attributes
KalmanFilter Class Reference

sample RT component which has one data input port and one data output port More...

#include <KalmanFilter.h>

Inheritance diagram for KalmanFilter:
Inheritance graph
[legend]

List of all members.

Public Member Functions

bool getKalmanFilterParam (OpenHRP::KalmanFilterService::KalmanFilterParam &i_param)
 KalmanFilter (RTC::Manager *manager)
 Constructor.
virtual RTC::ReturnCode_t onActivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onDeactivated (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onExecute (RTC::UniqueId ec_id)
virtual RTC::ReturnCode_t onInitialize ()
bool resetKalmanFilterState ()
bool setKalmanFilterParam (const OpenHRP::KalmanFilterService::KalmanFilterParam &i_param)
virtual ~KalmanFilter ()
 Destructor.

Protected Attributes

TimedAcceleration3D m_acc
InPort< TimedAcceleration3D > m_accIn
TimedAcceleration3D m_accRef
InPort< TimedAcceleration3D > m_accRefIn
RTC::TimedOrientation3D m_baseRpyCurrent
RTC::OutPort
< RTC::TimedOrientation3D > 
m_baseRpyCurrentOut
RTC::CorbaPort m_KalmanFilterServicePort
RTC::TimedDoubleSeq m_qCurrent
RTC::InPort< RTC::TimedDoubleSeq > m_qCurrentIn
TimedAngularVelocity3D m_rate
InPort< TimedAngularVelocity3D > m_rateIn
TimedOrientation3D m_rpy
TimedOrientation3D m_rpy_prev
InPort< TimedAngularVelocity3D > m_rpyIn
OutPort< TimedOrientation3D > m_rpyOut
TimedOrientation3D m_rpyRaw
TimedOrientation3D m_rpyRaw_prev
OutPort< TimedOrientation3D > m_rpyRawOut
KalmanFilterService_impl m_service0

Private Attributes

hrp::Vector3 acc_offset
int dummy
EKFilter ekf_filter
OpenHRP::KalmanFilterService::KFAlgorithm kf_algorithm
int loop
unsigned int m_debugLevel
double m_dt
hrp::BodyPtr m_robot
hrp::Matrix33 m_sensorR
RPYKalmanFilter rpy_kf
hrp::Matrix33 sensorR_offset

Detailed Description

sample RT component which has one data input port and one data output port

Definition at line 43 of file KalmanFilter.h.


Constructor & Destructor Documentation

Constructor.

Parameters:
managerpointer to the Manager

Definition at line 40 of file KalmanFilter.cpp.

Destructor.

Definition at line 61 of file KalmanFilter.cpp.


Member Function Documentation

bool KalmanFilter::getKalmanFilterParam ( OpenHRP::KalmanFilterService::KalmanFilterParam &  i_param)

Definition at line 316 of file KalmanFilter.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 167 of file KalmanFilter.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 173 of file KalmanFilter.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 179 of file KalmanFilter.cpp.

Reimplemented from RTC::RTObject_impl.

Definition at line 67 of file KalmanFilter.cpp.

Definition at line 310 of file KalmanFilter.cpp.

bool KalmanFilter::setKalmanFilterParam ( const OpenHRP::KalmanFilterService::KalmanFilterParam &  i_param)

Definition at line 291 of file KalmanFilter.cpp.


Member Data Documentation

Definition at line 165 of file KalmanFilter.h.

Definition at line 167 of file KalmanFilter.h.

Definition at line 162 of file KalmanFilter.h.

OpenHRP::KalmanFilterService::KFAlgorithm KalmanFilter::kf_algorithm [private]

Definition at line 168 of file KalmanFilter.h.

Definition at line 167 of file KalmanFilter.h.

TimedAcceleration3D KalmanFilter::m_acc [protected]

Definition at line 115 of file KalmanFilter.h.

InPort<TimedAcceleration3D> KalmanFilter::m_accIn [protected]

Definition at line 125 of file KalmanFilter.h.

TimedAcceleration3D KalmanFilter::m_accRef [protected]

Definition at line 116 of file KalmanFilter.h.

InPort<TimedAcceleration3D> KalmanFilter::m_accRefIn [protected]

Definition at line 126 of file KalmanFilter.h.

RTC::TimedOrientation3D KalmanFilter::m_baseRpyCurrent [protected]

Definition at line 137 of file KalmanFilter.h.

RTC::OutPort<RTC::TimedOrientation3D> KalmanFilter::m_baseRpyCurrentOut [protected]

Definition at line 138 of file KalmanFilter.h.

unsigned int KalmanFilter::m_debugLevel [private]

Definition at line 166 of file KalmanFilter.h.

double KalmanFilter::m_dt [private]

Definition at line 160 of file KalmanFilter.h.

Definition at line 149 of file KalmanFilter.h.

RTC::TimedDoubleSeq KalmanFilter::m_qCurrent [protected]

Definition at line 135 of file KalmanFilter.h.

RTC::InPort<RTC::TimedDoubleSeq> KalmanFilter::m_qCurrentIn [protected]

Definition at line 136 of file KalmanFilter.h.

TimedAngularVelocity3D KalmanFilter::m_rate [protected]

Definition at line 114 of file KalmanFilter.h.

InPort<TimedAngularVelocity3D> KalmanFilter::m_rateIn [protected]

Definition at line 124 of file KalmanFilter.h.

Definition at line 163 of file KalmanFilter.h.

TimedOrientation3D KalmanFilter::m_rpy [protected]

Definition at line 117 of file KalmanFilter.h.

TimedOrientation3D KalmanFilter::m_rpy_prev [protected]

Definition at line 119 of file KalmanFilter.h.

InPort<TimedAngularVelocity3D> KalmanFilter::m_rpyIn [protected]

Definition at line 127 of file KalmanFilter.h.

OutPort<TimedOrientation3D> KalmanFilter::m_rpyOut [protected]

Definition at line 133 of file KalmanFilter.h.

TimedOrientation3D KalmanFilter::m_rpyRaw [protected]

Definition at line 118 of file KalmanFilter.h.

TimedOrientation3D KalmanFilter::m_rpyRaw_prev [protected]

Definition at line 120 of file KalmanFilter.h.

OutPort<TimedOrientation3D> KalmanFilter::m_rpyRawOut [protected]

Definition at line 134 of file KalmanFilter.h.

Definition at line 164 of file KalmanFilter.h.

Definition at line 155 of file KalmanFilter.h.

Definition at line 161 of file KalmanFilter.h.

Definition at line 164 of file KalmanFilter.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed May 15 2019 05:02:20