pose_ekf::KFD_PosVel Class Reference

#include <KFD_PosVel.hpp>

Public Member Functions
	KFD_PosVel ()
	~KFD_PosVel ()
void	copyState (const KFD_PosVel &kfd)
bool	positionObservation (Eigen::Vector3d position, Eigen::Matrix3d covariance, float reject_position_threshol)
bool	velocityObservation (Eigen::Vector3d velocity, Eigen::Matrix3d covariance, float reject_velocity_threshol)
bool	positionZObservation (double z, double error, double rejection_threshold)
void	setPosition (Eigen::Vector3d position, Eigen::Matrix3d covariance)
void	setVelocity (Eigen::Vector3d velocity, Eigen::Matrix3d covariance)
void	predict (Eigen::Quaterniond R_body_2_world, double dt, Eigen::Matrix< double, StatePosVel::SIZE, StatePosVel::SIZE > process_noise)
Eigen::Vector3d	getPosition ()
Eigen::Vector3d	getVelocity ()
Eigen::Matrix3d	getPositionCovariance ()
Eigen::Matrix3d	getVelocityCovariance ()
void	init (const Eigen::Matrix< double, StatePosVel::SIZE, StatePosVel::SIZE > &P, const Eigen::Matrix< double, StatePosVel::SIZE, 1 > &x)

Public Attributes
StatePosVel	x
KalmanFilter::KF< StatePosVel::SIZE > *	filter
Eigen::Matrix< double, StatePosVel::SIZE, StatePosVel::SIZE >	Q

Static Public Attributes
static EIGEN_MAKE_ALIGNED_OPERATOR_NEW const unsigned int	_POS_MEASUREMENT_SIZE = 3
static const unsigned int	_VEL_MEASUREMENT_SIZE = 3
static const unsigned int	_POS_DEGREE_OF_FREEDOM = 3
static const unsigned int	_VEL_DEGREE_OF_FREEDOM = 3

Constructor & Destructor Documentation

KFD_PosVel()

KFD_PosVel::KFD_PosVel

(

)

CHECK

~KFD_PosVel()

KFD_PosVel::~KFD_PosVel

(

)

Member Function Documentation

copyState()

void KFD_PosVel::copyState

(

const KFD_PosVel &

kfd

)

Copy the Kalman Filter State from KFD

getPosition()

Eigen::Vector3d KFD_PosVel::getPosition

(

)

gets the estimated position

getPositionCovariance()

Eigen::Matrix3d KFD_PosVel::getPositionCovariance

(

)

get the Position covariance

getVelocity()

Eigen::Vector3d KFD_PosVel::getVelocity

(

)

gets the estimated velocity

getVelocityCovariance()

Eigen::Matrix3d KFD_PosVel::getVelocityCovariance

(

)

get the Velocity covariance

init()

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

set the inital values for state x and covariance P

configurarion hook

positionObservation()

bool KFD_PosVel::positionObservation	(	Eigen::Vector3d	position,
		Eigen::Matrix3d	covariance,
		float	reject_position_threshol
	)

A 3D position observation

positionZObservation()

bool KFD_PosVel::positionZObservation	(	double	z,
		double	error,
		double	rejection_threshold
	)

A z position observation

predict()

void KFD_PosVel::predict	(	Eigen::Quaterniond	R_body_2_world,
		double	dt,
		Eigen::Matrix< double, StatePosVel::SIZE, StatePosVel::SIZE >	process_noise
	)

prediction step of the kalman filter

Kalman Filter

setPosition()

void KFD_PosVel::setPosition	(	Eigen::Vector3d	position,
		Eigen::Matrix3d	covariance
	)

set the position

setVelocity()

void KFD_PosVel::setVelocity	(	Eigen::Vector3d	velocity,
		Eigen::Matrix3d	covariance
	)

set the position

velocityObservation()

bool KFD_PosVel::velocityObservation	(	Eigen::Vector3d	velocity,
		Eigen::Matrix3d	covariance,
		float	reject_velocity_threshol
	)

A 3D velocity observation

Member Data Documentation

_POS_DEGREE_OF_FREEDOM

const unsigned int pose_ekf::KFD_PosVel::_POS_DEGREE_OF_FREEDOM = 3

static

_POS_MEASUREMENT_SIZE

EIGEN_MAKE_ALIGNED_OPERATOR_NEW const unsigned int pose_ekf::KFD_PosVel::_POS_MEASUREMENT_SIZE = 3

static

ensure alignment for eigen vector types

_VEL_DEGREE_OF_FREEDOM

const unsigned int pose_ekf::KFD_PosVel::_VEL_DEGREE_OF_FREEDOM = 3

static

_VEL_MEASUREMENT_SIZE

const unsigned int pose_ekf::KFD_PosVel::_VEL_MEASUREMENT_SIZE = 3

static

filter

KalmanFilter::KF<StatePosVel::SIZE>* pose_ekf::KFD_PosVel::filter

Instance of the Extended Kalman filter

Q

Eigen::Matrix<double, StatePosVel::SIZE, StatePosVel::SIZE> pose_ekf::KFD_PosVel::Q

process noise

x

StatePosVel pose_ekf::KFD_PosVel::x

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