pose_estimation::OrientationUKF Class Reference

#include <OrientationUKF.hpp>

Inheritance diagram for pose_estimation::OrientationUKF:

Public Member Functions
	OrientationUKF (const State &initial_state, const Covariance &state_cov, double gyro_bias_tau, double acc_bias_tau, const LocationConfiguration &location)
virtual	~OrientationUKF ()
void	integrateMeasurement (const RotationRate &measurement)
void	integrateMeasurement (const Acceleration &measurement)
void	integrateMeasurement (const VelocityMeasurement &measurement)
RotationRate::Mu	getRotationRate ()
Public Member Functions inherited from pose_estimation::UnscentedKalmanFilter< OrientationState >
	UnscentedKalmanFilter ()
virtual	~UnscentedKalmanFilter ()
void	initializeFilter (const State &initial_state, const Covariance &state_cov)
bool	getCurrentState (State &state, Covariance &state_cov) const
bool	getCurrentState (State &state) const
void	predictionStepFromSampleTime (const base::Time &sample_time)
void	predictionStep (double delta_t)
unsigned	getStateSize () const
bool	isInitialized () const
const Covariance &	getProcessNoiseCovariance () const
void	setProcessNoiseCovariance (const Covariance &noise_cov)
const base::Time &	getLastMeasurementTime () const
void	setLastMeasurementTime (const base::Time &last_measurement_time)
double	getMaxTimeDelta () const
void	setMaxTimeDelta (double max_time_delta)
double	getMinTimeDelta () const
void	setMinTimeDelta (double min_time_delta)

Protected Member Functions
void	predictionStepImpl (double delta)
Protected Member Functions inherited from pose_estimation::UnscentedKalmanFilter< OrientationState >
void	checkMeasurment (const Eigen::Matrix< scalar_type, DIM, 1 > &mu, const Eigen::Matrix< scalar_type, DIM, DIM > &cov) const

Protected Attributes
RotationRate	rotation_rate
Acceleration	acceleration
Eigen::Vector3d	earth_rotation
double	gyro_bias_tau
double	acc_bias_tau
Protected Attributes inherited from pose_estimation::UnscentedKalmanFilter< OrientationState >
boost::shared_ptr< MTK_UKF >	ukf
Covariance	process_noise_cov
base::Time	last_measurement_time
double	max_time_delta
double	min_time_delta

Additional Inherited Members
Public Types inherited from pose_estimation::UnscentedKalmanFilter< OrientationState >
enum
typedef OrientationState	State
typedef ukfom::mtkwrap< OrientationState >	WState
typedef ukfom::ukf< WState >	MTK_UKF
typedef MTK_UKF::cov	Covariance

Detailed Description

This filter estimates the orientation of an IMU in the NWU navigation frame. It integrates rotation rates, accelerations and linear velocities. The linear velocities help to constrain the acceleration and to estimate the biases. Given gyroscopes capable of sensing the rotation of the earth (e.g. a fibre optic gyro) this filter is able to estimate it's true heading.

Constructor & Destructor Documentation

OrientationUKF()

pose_estimation::OrientationUKF::OrientationUKF	(	const State &	initial_state,
		const Covariance &	state_cov,
		double	gyro_bias_tau,
		double	acc_bias_tau,
		const LocationConfiguration &	location
	)

~OrientationUKF()

virtual pose_estimation::OrientationUKF::~OrientationUKF ( )

inlinevirtual

Member Function Documentation

getRotationRate()

OrientationUKF::RotationRate::Mu pose_estimation::OrientationUKF::getRotationRate

(

)

integrateMeasurement() [1/3]

void pose_estimation::OrientationUKF::integrateMeasurement

(

const RotationRate &

measurement

)

Sets the current rotation rate of the IMU in rad/s.

integrateMeasurement() [2/3]

void pose_estimation::OrientationUKF::integrateMeasurement

(

const Acceleration &

measurement

)

Sets the current acceleration of the IMU in m/s^2.

integrateMeasurement() [3/3]

void pose_estimation::OrientationUKF::integrateMeasurement

(

const VelocityMeasurement &

measurement

)

Integrate the linear velocitiy of the IMU in m/s.

predictionStepImpl()

void pose_estimation::OrientationUKF::predictionStepImpl ( double  delta )

protectedvirtual

Implements pose_estimation::UnscentedKalmanFilter< OrientationState >.

Member Data Documentation

acc_bias_tau

double pose_estimation::OrientationUKF::acc_bias_tau

protected

acceleration

Acceleration pose_estimation::OrientationUKF::acceleration

protected

earth_rotation

Eigen::Vector3d pose_estimation::OrientationUKF::earth_rotation

protected

gyro_bias_tau

double pose_estimation::OrientationUKF::gyro_bias_tau

protected

rotation_rate

RotationRate pose_estimation::OrientationUKF::rotation_rate

protected

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

• /build/rock-master-18.09-slam-pose-estimation-0.20180607/src/orientation_estimator/OrientationUKF.hpp
• /build/rock-master-18.09-slam-pose-estimation-0.20180607/src/orientation_estimator/OrientationUKF.cpp