Public Member Functions | Private Attributes
RPYKalmanFilter Class Reference

#include <RPYKalmanFilter.h>

List of all members.

Public Member Functions

double getQangle () const
double getQrate () const
double getRangle () const
void main_one (hrp::Vector3 &rpy, hrp::Vector3 &rpyRaw, hrp::Vector3 &baseRpyCurrent, const hrp::Vector3 &acc, const hrp::Vector3 &gyro, const double &sl_y, const hrp::Matrix33 &BtoS)
void resetKalmanFilterState ()
 RPYKalmanFilter ()
void setParam (const double _dt, const double _Q_angle, const double _Q_rate, const double _R_angle, const std::string print_str="")
void setSensorR (const hrp::Matrix33 &sr)

Private Attributes

hrp::Matrix33 m_sensorR
KFilter p_filter
double Q_angle
double Q_rate
double R_angle
KFilter r_filter
KFilter y_filter

Detailed Description

Definition at line 71 of file RPYKalmanFilter.h.


Constructor & Destructor Documentation

Definition at line 73 of file RPYKalmanFilter.h.


Member Function Documentation

double RPYKalmanFilter::getQangle ( ) const [inline]

Definition at line 158 of file RPYKalmanFilter.h.

double RPYKalmanFilter::getQrate ( ) const [inline]

Definition at line 159 of file RPYKalmanFilter.h.

double RPYKalmanFilter::getRangle ( ) const [inline]

Definition at line 160 of file RPYKalmanFilter.h.

void RPYKalmanFilter::main_one ( hrp::Vector3 rpy,
hrp::Vector3 rpyRaw,
hrp::Vector3 baseRpyCurrent,
const hrp::Vector3 acc,
const hrp::Vector3 gyro,
const double &  sl_y,
const hrp::Matrix33 BtoS 
) [inline]

Definition at line 74 of file RPYKalmanFilter.h.

Definition at line 151 of file RPYKalmanFilter.h.

void RPYKalmanFilter::setParam ( const double  _dt,
const double  _Q_angle,
const double  _Q_rate,
const double  _R_angle,
const std::string  print_str = "" 
) [inline]

Definition at line 127 of file RPYKalmanFilter.h.

Definition at line 157 of file RPYKalmanFilter.h.


Member Data Documentation

Definition at line 164 of file RPYKalmanFilter.h.

Definition at line 160 of file RPYKalmanFilter.h.

double RPYKalmanFilter::Q_angle [private]

Definition at line 163 of file RPYKalmanFilter.h.

double RPYKalmanFilter::Q_rate [private]

Definition at line 163 of file RPYKalmanFilter.h.

double RPYKalmanFilter::R_angle [private]

Definition at line 163 of file RPYKalmanFilter.h.

Definition at line 160 of file RPYKalmanFilter.h.

Definition at line 160 of file RPYKalmanFilter.h.


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


hrpsys
Author(s): AIST, Fumio Kanehiro
autogenerated on Wed Sep 6 2017 02:35:57