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 ( )

CHECK

EKFPosYawBiasT::~EKFPosYawBiasT ( )

Member Function Documentation

void EKFPosYawBiasT::copyState ( const EKFPosYawBiasT & kfd )

Copy the Kalman Filter State from KFD

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

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

Eigen::Matrix3d EKFPosYawBiasT::getCovariancePosition ( )

Eigen::Quaterniond EKFPosYawBiasT::getOrientationCorrection ( )

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

double EKFPosYawBiasT::getOrientationCorrectionCovariance ( )

Eigen::Vector3d EKFPosYawBiasT::getPosition ( )

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

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

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

sets the initial position and position covariance

EIGEN_MAKE_ALIGNED_OPERATOR_NEW StatePosYawBias pose_ekf::EKFPosYawBiasT::x

ensure alignment for eigen vector types state estimate

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