#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

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

virtual pose_estimation::OrientationUKF::~OrientationUKF ( )

inlinevirtual

Member Function Documentation

OrientationUKF::RotationRate::Mu pose_estimation::OrientationUKF::getRotationRate ( )

void pose_estimation::OrientationUKF::integrateMeasurement ( const RotationRate & measurement )

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

void pose_estimation::OrientationUKF::integrateMeasurement ( const Acceleration & measurement )

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

void pose_estimation::OrientationUKF::integrateMeasurement ( const VelocityMeasurement & measurement )

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

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

protectedvirtual

Implements pose_estimation::UnscentedKalmanFilter< OrientationState >.

Member Data Documentation

double pose_estimation::OrientationUKF::acc_bias_tau

protected

Acceleration pose_estimation::OrientationUKF::acceleration

protected

Eigen::Vector3d pose_estimation::OrientationUKF::earth_rotation

protected

double pose_estimation::OrientationUKF::gyro_bias_tau

protected

RotationRate pose_estimation::OrientationUKF::rotation_rate

protected

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

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation