pose_ekf::EKFPosYawBiasT Class Reference

#include <EKFPosYawBiasT.hpp>

Public Member Functions
	EKFPosYawBiasT ()
	~EKFPosYawBiasT ()
void	copyState (const EKFPosYawBiasT &kfd)
void	predict (const Eigen::Vector3d &translation_world, const Eigen::Matrix< double, StatePosYawBias::SIZE, StatePosYawBias::SIZE > &Q)
void	init (const Eigen::Matrix< double, StatePosYawBias::SIZE, StatePosYawBias::SIZE > &P, const Eigen::Matrix< double, StatePosYawBias::SIZE, 1 > &x)
Eigen::Quaterniond	getOrientationCorrection ()
Eigen::Matrix3d	getCovariancePosition ()
Eigen::Vector3d	getPosition ()
double	getOrientationCorrectionCovariance ()
void	setInitialPosition (const Eigen::Vector3d &position, const Eigen::Matrix3d &covariance)
bool	correctPosition (const Eigen::Vector3d &position, const Eigen::Matrix3d &covariance, float reject_threshold)
bool	correctPositionOrientation (const Eigen::Vector4d &positionOrientation, const Eigen::Matrix4d &covariance, float reject_threshold)

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW StatePosYawBias	x

Constructor & Destructor Documentation

EKFPosYawBiasT()

EKFPosYawBiasT::EKFPosYawBiasT

(

)

CHECK

~EKFPosYawBiasT()

EKFPosYawBiasT::~EKFPosYawBiasT

(

)

Member Function Documentation

copyState()

void EKFPosYawBiasT::copyState

(

const EKFPosYawBiasT &

kfd

)

Copy the Kalman Filter State from KFD

correctPosition()

bool EKFPosYawBiasT::correctPosition	(	const Eigen::Vector3d &	position,
		const Eigen::Matrix3d &	covariance,
		float	reject_threshold
	)

Corrects th KF based on position observation

Corrects th KF based on position observation Only 2 degree of freedom for rejection, position in x and y

correctPositionOrientation()

bool EKFPosYawBiasT::correctPositionOrientation	(	const Eigen::Vector4d &	positionOrientation,
		const Eigen::Matrix4d &	covariance,
		float	reject_threshold
	)

Corrects th KF based on position and orientation correction observation

Corrects th KF based on position and orientation correction observation Only 2 degree of freedom for rejection, position in x and y

getCovariancePosition()

Eigen::Matrix3d EKFPosYawBiasT::getCovariancePosition

(

)

getOrientationCorrection()

Eigen::Quaterniond EKFPosYawBiasT::getOrientationCorrection

(

)

gets the rotation from world to world corrected by the bias frame calculated by the filter R_ImuWorld_2_world

getOrientationCorrectionCovariance()

double EKFPosYawBiasT::getOrientationCorrectionCovariance

(

)

getPosition()

Eigen::Vector3d EKFPosYawBiasT::getPosition

(

)

init()

void EKFPosYawBiasT::init	(	const Eigen::Matrix< double, StatePosYawBias::SIZE, StatePosYawBias::SIZE > &	P,
		const Eigen::Matrix< double, StatePosYawBias::SIZE, 1 > &	x
	)

set the inital values for state x and covariance P

configurarion hook

predict()

void EKFPosYawBiasT::predict	(	const Eigen::Vector3d &	translation_world,
		const Eigen::Matrix< double, StatePosYawBias::SIZE, StatePosYawBias::SIZE > &	Q
	)

update step taking velocity in world frame without the bias correction

update the filter

setInitialPosition()

void EKFPosYawBiasT::setInitialPosition	(	const Eigen::Vector3d &	position,
		const Eigen::Matrix3d &	covariance
	)

sets the initial position and position covariance

Member Data Documentation

x

EIGEN_MAKE_ALIGNED_OPERATOR_NEW StatePosYawBias pose_ekf::EKFPosYawBiasT::x

ensure alignment for eigen vector types state estimate

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

• /build/rock-master-18.09-slam-pose-ekf-0.20121031/src/EKFPosYawBiasT.hpp
• /build/rock-master-18.09-slam-pose-ekf-0.20121031/src/EKFPosYawBiasT.cpp