HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.hpp@69:2b2815603e5a, 2021-11-19 (annotated)

Committer:
NaotoMorita
Date:
Fri Nov 19 05:44:14 2021 +0000
Revision:
69:2b2815603e5a
Parent:
65:c25d7810de44 
hatena

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 60:f4b4231a8d3f 10 extern Serial twelite;
NaotoMorita 44:7d82e63b6a86 11
NaotoMorita 44:7d82e63b6a86 12 class solaESKF
NaotoMorita 44:7d82e63b6a86 13 {
NaotoMorita 44:7d82e63b6a86 14 private:
NaotoMorita 44:7d82e63b6a86 15
NaotoMorita 44:7d82e63b6a86 16 int nState;
NaotoMorita 44:7d82e63b6a86 17 Matrix pihat;
NaotoMorita 44:7d82e63b6a86 18 Matrix vihat;
NaotoMorita 44:7d82e63b6a86 19 Matrix qhat;
NaotoMorita 44:7d82e63b6a86 20 Matrix accBias;
NaotoMorita 44:7d82e63b6a86 21 Matrix gyroBias;
NaotoMorita 44:7d82e63b6a86 22 Matrix gravity;
NaotoMorita 62:5519d34eb6e8 23 Matrix magBias;
NaotoMorita 62:5519d34eb6e8 24
NaotoMorita 62:5519d34eb6e8 25
NaotoMorita 44:7d82e63b6a86 26 Matrix errState;
NaotoMorita 44:7d82e63b6a86 27 Matrix Phat;
NaotoMorita 44:7d82e63b6a86 28 Matrix Q;
NaotoMorita 62:5519d34eb6e8 29
NaotoMorita 47:2467de40951f 30 void setDiag(Matrix& mat, float val);
NaotoMorita 47:2467de40951f 31 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
NaotoMorita 62:5519d34eb6e8 32
NaotoMorita 47:2467de40951f 33 public:
NaotoMorita 62:5519d34eb6e8 34
NaotoMorita 44:7d82e63b6a86 35 solaESKF();
NaotoMorita 62:5519d34eb6e8 36
NaotoMorita 47:2467de40951f 37 Matrix getPihat();
NaotoMorita 47:2467de40951f 38 Matrix getVihat();
NaotoMorita 47:2467de40951f 39 Matrix getQhat();
NaotoMorita 47:2467de40951f 40 Matrix getAccBias();
NaotoMorita 47:2467de40951f 41 Matrix getGyroBias();
NaotoMorita 47:2467de40951f 42 Matrix getGravity();
NaotoMorita 62:5519d34eb6e8 43 Matrix getMagBias();
NaotoMorita 47:2467de40951f 44 Matrix getErrState();
NaotoMorita 62:5519d34eb6e8 45
NaotoMorita 47:2467de40951f 46 void setPhatPosition(float val);
NaotoMorita 47:2467de40951f 47 void setPhatVelocity(float val);
NaotoMorita 47:2467de40951f 48 void setPhatAngleError(float val);
NaotoMorita 47:2467de40951f 49 void setPhatAccBias(float val);
NaotoMorita 47:2467de40951f 50 void setPhatGyroBias(float val);
NaotoMorita 47:2467de40951f 51 void setPhatGravity(float val);
NaotoMorita 62:5519d34eb6e8 52 void setPhatMagBias(float val);
NaotoMorita 47:2467de40951f 53 void setQVelocity(float val);
NaotoMorita 47:2467de40951f 54 void setQAngleError(float val);
NaotoMorita 47:2467de40951f 55 void setQAccBias(float val);
NaotoMorita 47:2467de40951f 56 void setQGyroBias(float val);
NaotoMorita 62:5519d34eb6e8 57 void setQMagBias(float val);
NaotoMorita 47:2467de40951f 58
NaotoMorita 44:7d82e63b6a86 59 void updateNominal(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 44:7d82e63b6a86 60 void updateErrState(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 59:03fe5e16a33c 61 void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R);
NaotoMorita 65:c25d7810de44 62 void updateImuConstraints(Matrix acc,Matrix mag,Matrix R);
NaotoMorita 61:5e5c4fe12440 63 void updateAcc(Matrix acc,Matrix R);
NaotoMorita 61:5e5c4fe12440 64 void updateMag(Matrix mag,Matrix R);
NaotoMorita 44:7d82e63b6a86 65 void fuseErr2Nominal();
NaotoMorita 44:7d82e63b6a86 66
NaotoMorita 44:7d82e63b6a86 67 void computeDcm(Matrix& dcm, Matrix quat);
NaotoMorita 44:7d82e63b6a86 68 void setQhat(float ex,float ey,float ez);
NaotoMorita 44:7d82e63b6a86 69 void setGravity(float gx,float gy,float gz);
NaotoMorita 44:7d82e63b6a86 70
NaotoMorita 58:93ba28cf5cb3 71 void setPihat(float pi_x, float pi_y);
osaka 51:a5af3b280d23 72
NaotoMorita 44:7d82e63b6a86 73 Matrix computeAngles();
NaotoMorita 44:7d82e63b6a86 74 Matrix quatmultiply(Matrix p, Matrix q);
NaotoMorita 44:7d82e63b6a86 75
NaotoMorita 44:7d82e63b6a86 76 };
NaotoMorita 44:7d82e63b6a86 77
NaotoMorita 56:c10f1168bd4a 78 #endif
NaotoMorita 56:c10f1168bd4a 79
NaotoMorita 56:c10f1168bd4a 80 //void updateGPSVelocity(Matrix velgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 81 //void updateGPSPosition(Matrix posgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 82 //void updateGyroConstraints(Matrix gyro,Matrix R);
NaotoMorita 56:c10f1168bd4a 83 //void updateMag(Matrix mag,Matrix R);
NaotoMorita 59:03fe5e16a33c 84 //void updateAccConstraints(Matrix acc,float palt,Matrix R);
NaotoMorita 59:03fe5e16a33c 85 //void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R);
NaotoMorita 59:03fe5e16a33c 86 //void updateGPSPosition(Matrix posgps,float palt,Matrix R);
NaotoMorita 61:5e5c4fe12440 87 //