Public Member Functions | Private Attributes
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

Detailed Description

Definition at line 14 of file EKFilter.h.


Constructor & Destructor Documentation

EKFilter::EKFilter ( ) [inline]

Definition at line 16 of file EKFilter.h.


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.

Definition at line 174 of file EKFilter.h.

void EKFilter::setdt ( const double  _dt) [inline]

Definition at line 173 of file EKFilter.h.


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.


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