HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.hpp@55:21611d4cf7e8, 2021-11-08 (annotated)

Committer:
NaotoMorita
Date:
Mon Nov 08 09:19:55 2021 +0000
Revision:
55:21611d4cf7e8
Parent:
54:cd514d9d4b19
Child:
56:c10f1168bd4a
mag debuging;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 44:7d82e63b6a86 1 #ifndef __solaESKF_HPP__
NaotoMorita 44:7d82e63b6a86 2 #define __solaESKF_HPP__
NaotoMorita 44:7d82e63b6a86 3
NaotoMorita 44:7d82e63b6a86 4 #include "Matrix.h"
NaotoMorita 54:cd514d9d4b19 5 #include "MatrixMath.h"
NaotoMorita 54:cd514d9d4b19 6 #include <cmath>
NaotoMorita 44:7d82e63b6a86 7
NaotoMorita 44:7d82e63b6a86 8 #define M_PI 3.141592f
NaotoMorita 44:7d82e63b6a86 9
NaotoMorita 44:7d82e63b6a86 10
NaotoMorita 44:7d82e63b6a86 11 class solaESKF
NaotoMorita 44:7d82e63b6a86 12 {
NaotoMorita 44:7d82e63b6a86 13 private:
NaotoMorita 44:7d82e63b6a86 14
NaotoMorita 44:7d82e63b6a86 15 int nState;
NaotoMorita 44:7d82e63b6a86 16 Matrix pihat;
NaotoMorita 44:7d82e63b6a86 17 Matrix vihat;
NaotoMorita 44:7d82e63b6a86 18 Matrix qhat;
NaotoMorita 44:7d82e63b6a86 19 Matrix accBias;
NaotoMorita 44:7d82e63b6a86 20 Matrix gyroBias;
NaotoMorita 44:7d82e63b6a86 21 Matrix gravity;
NaotoMorita 44:7d82e63b6a86 22
NaotoMorita 44:7d82e63b6a86 23 Matrix errState;
NaotoMorita 44:7d82e63b6a86 24 Matrix Phat;
NaotoMorita 44:7d82e63b6a86 25 Matrix Q;
NaotoMorita 44:7d82e63b6a86 26
NaotoMorita 47:2467de40951f 27 void setDiag(Matrix& mat, float val);
NaotoMorita 47:2467de40951f 28 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
NaotoMorita 47:2467de40951f 29
NaotoMorita 47:2467de40951f 30 public:
NaotoMorita 47:2467de40951f 31
NaotoMorita 44:7d82e63b6a86 32 solaESKF();
NaotoMorita 44:7d82e63b6a86 33
NaotoMorita 47:2467de40951f 34 Matrix getPihat();
NaotoMorita 47:2467de40951f 35 Matrix getVihat();
NaotoMorita 47:2467de40951f 36 Matrix getQhat();
NaotoMorita 47:2467de40951f 37 Matrix getAccBias();
NaotoMorita 47:2467de40951f 38 Matrix getGyroBias();
NaotoMorita 47:2467de40951f 39 Matrix getGravity();
NaotoMorita 47:2467de40951f 40 Matrix getErrState();
NaotoMorita 47:2467de40951f 41
NaotoMorita 47:2467de40951f 42 void setPhatPosition(float val);
NaotoMorita 47:2467de40951f 43 void setPhatVelocity(float val);
NaotoMorita 47:2467de40951f 44 void setPhatAngleError(float val);
NaotoMorita 47:2467de40951f 45 void setPhatAccBias(float val);
NaotoMorita 47:2467de40951f 46 void setPhatGyroBias(float val);
NaotoMorita 47:2467de40951f 47 void setPhatGravity(float val);
NaotoMorita 47:2467de40951f 48 void setQVelocity(float val);
NaotoMorita 47:2467de40951f 49 void setQAngleError(float val);
NaotoMorita 47:2467de40951f 50 void setQAccBias(float val);
NaotoMorita 47:2467de40951f 51 void setQGyroBias(float val);
NaotoMorita 47:2467de40951f 52
NaotoMorita 44:7d82e63b6a86 53 void updateNominal(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 44:7d82e63b6a86 54 void updateErrState(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 46:15988dc41923 55 void updateGPSVelocity(Matrix velgps,Matrix R);
NaotoMorita 46:15988dc41923 56 void updateGPSPosition(Matrix posgps,Matrix R);
NaotoMorita 46:15988dc41923 57 void updateGPS(Matrix posgps,Matrix velgps,Matrix R);
NaotoMorita 50:dadad0567349 58 void updateAccConstraints(Matrix acc,float palt,Matrix R);
NaotoMorita 46:15988dc41923 59 void updateGyroConstraints(Matrix gyro,Matrix R);
NaotoMorita 55:21611d4cf7e8 60 void updateMag(Matrix mag,Matrix R);
NaotoMorita 44:7d82e63b6a86 61 void fuseErr2Nominal();
NaotoMorita 44:7d82e63b6a86 62
NaotoMorita 44:7d82e63b6a86 63 void computeDcm(Matrix& dcm, Matrix quat);
NaotoMorita 44:7d82e63b6a86 64 void setQhat(float ex,float ey,float ez);
NaotoMorita 44:7d82e63b6a86 65 void setGravity(float gx,float gy,float gz);
NaotoMorita 44:7d82e63b6a86 66
osaka 51:a5af3b280d23 67 void setPihat(float pi_x, float pi_y, float pi_z);
osaka 51:a5af3b280d23 68
NaotoMorita 44:7d82e63b6a86 69 Matrix computeAngles();
NaotoMorita 44:7d82e63b6a86 70 Matrix quatmultiply(Matrix p, Matrix q);
NaotoMorita 44:7d82e63b6a86 71
NaotoMorita 44:7d82e63b6a86 72 };
NaotoMorita 44:7d82e63b6a86 73
NaotoMorita 44:7d82e63b6a86 74 #endif