Implements an Infinite Impulse Response filter with order _Order specified as template parameters and _DataDimension is the Dimension of the data to filter (1-D, 2-D, 3-D, etc..) More...

#include <IIR.hpp>

Public Member Functions
	IIR (const Eigen::Matrix< double, _Order+1, 1 > &b, const Eigen::Matrix< double, _Order+1, 1 > &a)
	Constructor. More...

Eigen::Matrix< double, _DataDimension, 1 >	perform (const Eigen::Matrix< double, _DataDimension, 1 > &data)

Eigen::Matrix< double, _DataDimension, 1 >	perform (const Eigen::Matrix< double, _DataDimension, 1 > &data, Eigen::Matrix< double, _DataDimension, _DataDimension > &dataCov, const bool covariance=true)

Protected Member Functions
Eigen::Matrix< double, _DataDimension, 1 >	iirFilter (const Eigen::Matrix< double, _Order+1, 1 > &b, const Eigen::Matrix< double, _Order+1, 1 > &a, const Eigen::Matrix< double, _DataDimension, _Order+1 > &x, Eigen::Matrix< double, _DataDimension, _Order+1 > &y)
	IIR filter. More...

Eigen::Matrix< double, _DataDimension, _DataDimension >	iirFilterCov (const Eigen::Matrix< double, _DataDimension,(_Order+1)_DataDimension > &bMatrix, const Eigen::Matrix< double, _DataDimension,(_Order+1)_DataDimension > &aMatrix, const Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension > &xCov, Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension > &yCov)
	IIR filter Cov. More...

Protected Attributes
Eigen::Matrix< double, _Order+1, 1 >	bCoeff

Eigen::Matrix< double, _Order+1, 1 >	aCoeff

Eigen::Matrix< double, _DataDimension, _Order+1 >	originalData

Eigen::Matrix< double, _DataDimension, _Order+1 >	filteredData

Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension >	originalDataCov

Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension >	filteredDataCov

Eigen::Matrix< double, _DataDimension,(_Order+1)*_DataDimension >	bMatrix

Eigen::Matrix< double, _DataDimension,(_Order+1)*_DataDimension >	aMatrix

Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension >	crossCov

Detailed Description

template<unsigned int _Order, unsigned int _DataDimension>
class threed_odometry::IIR< _Order, _DataDimension >

Implements an Infinite Impulse Response filter with order _Order specified as template parameters and _DataDimension is the Dimension of the data to filter (1-D, 2-D, 3-D, etc..)

Constructor & Destructor Documentation

template<unsigned int _Order, unsigned int _DataDimension>

threed_odometry::IIR< _Order, _DataDimension >::IIR	(	const Eigen::Matrix< double, _Order+1, 1 > &	b,
		const Eigen::Matrix< double, _Order+1, 1 > &	a
	)

inline

Constructor.

Parameters

[in]	b	the feedforward filter coefficients
[in]	a	the feedback filter coefficients

Form the matrix A and B of the coefficients (Only used for the uncertainty propagation)

1 x _Order+1 row

The element for the a[0] is a zero matrix, because this is the value it is calculated by the IIR filter

Member Function Documentation

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, 1> threed_odometry::IIR< _Order, _DataDimension >::iirFilter	(	const Eigen::Matrix< double, _Order+1, 1 > &	b,
		const Eigen::Matrix< double, _Order+1, 1 > &	a,
		const Eigen::Matrix< double, _DataDimension, _Order+1 > &	x,
		Eigen::Matrix< double, _DataDimension, _Order+1 > &	y
	)

inlineprotected

IIR filter.

Infinite Impulse Response (IIR) Filter for an Eigen Vector

Author: Javier Hidalgo Carrio.

Parameters

[in]	norder	integer number with the filter order
[in]	b	array of feedforward filter coefficients
[in]	a	array of feedback filter coefficients
[in]	x	array of inputs
[in,out]	y	array of outputs

Returns: double with the result y[n]

Perform the filter

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, _DataDimension> threed_odometry::IIR< _Order, _DataDimension >::iirFilterCov	(	const Eigen::Matrix< double, _DataDimension,(_Order+1)*_DataDimension > &	bMatrix,
		const Eigen::Matrix< double, _DataDimension,(_Order+1)*_DataDimension > &	aMatrix,
		const Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension > &	xCov,
		Eigen::Matrix< double,(_Order+1)_DataDimension,(_Order+1)_DataDimension > &	yCov
	)

inlineprotected

IIR filter Cov.

Infinite Impulse Response (IIR) Filter for the Cov Matrix of the data

Author: Javier Hidalgo Carrio.

Parameters

[in]	norder	integer number with the filter order
[in]	b	array of feedforward filter coefficients
[in]	a	array of feedback filter coefficients
[in]	x	array of inputs
[in,out]	y	array of outputs

Returns: double with the result y[n]

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, 1> threed_odometry::IIR< _Order, _DataDimension >::perform ( const Eigen::Matrix< double, _DataDimension, 1 > & data )

inline

Peform the filter calling the protected method of the class

Parameters

[in] data vector of dimension _DataDimension of the new sample.

Returns: filtered data

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, 1> threed_odometry::IIR< _Order, _DataDimension >::perform	(	const Eigen::Matrix< double, _DataDimension, 1 > &	data,
		Eigen::Matrix< double, _DataDimension, _DataDimension > &	dataCov,
		const bool	covariance = `true`
	)

inline

Peform the filter calling the protected method of the class

Parameters

[in] data vector of dimension _DataDimension of the new sample.

Returns: filtered data

Copy the new data samples to the array for filtering

Perform the IIR filter with the designed coefficients

Compute the uncertainty propagation if set to true

Check if NaN values in the matrix

Copy the cov matrix for the data samples

Move back one block for the next filter iteration

Move back one column for the next filter iteration

Member Data Documentation

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _Order+1, 1> threed_odometry::IIR< _Order, _DataDimension >::aCoeff

protected

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, (_Order+1)*_DataDimension> threed_odometry::IIR< _Order, _DataDimension >::aMatrix

protected

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _Order+1, 1> threed_odometry::IIR< _Order, _DataDimension >::bCoeff

protected

Coefficients of a polinomia of order _Order IIR filter Coefficients

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, (_Order+1)*_DataDimension> threed_odometry::IIR< _Order, _DataDimension >::bMatrix

protected

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, (_Order+1)*_DataDimension, (_Order+1)*_DataDimension> threed_odometry::IIR< _Order, _DataDimension >::crossCov

protected

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, _Order+1> threed_odometry::IIR< _Order, _DataDimension >::filteredData

protected

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, (_Order+1)*_DataDimension, (_Order+1)*_DataDimension> threed_odometry::IIR< _Order, _DataDimension >::filteredDataCov

protected

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, _DataDimension, _Order+1> threed_odometry::IIR< _Order, _DataDimension >::originalData

protected

Data values for original and filtered measurements

template<unsigned int _Order, unsigned int _DataDimension>

Eigen::Matrix<double, (_Order+1)*_DataDimension, (_Order+1)*_DataDimension> threed_odometry::IIR< _Order, _DataDimension >::originalDataCov

protected

Variables for the uncertainty propagation through an IIR filter (is your original data has uncertainty)

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

/build/rock-master-18.09-slam-threed-odometry-0.20160909/src/IIR.hpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<unsigned int _Order, unsigned int _DataDimension> class threed_odometry::IIR< _Order, _DataDimension >

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<unsigned int _Order, unsigned int _DataDimension>
class threed_odometry::IIR< _Order, _DataDimension >