Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.hpp@50:dadad0567349, 2021-11-01 (annotated)
- Committer:
- NaotoMorita
- Date:
- Mon Nov 01 09:17:52 2021 +0000
- Revision:
- 50:dadad0567349
- Parent:
- 47:2467de40951f
- Child:
- 51:a5af3b280d23
palt update
Who changed what in which revision?
User | Revision | Line number | New 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 | 44:7d82e63b6a86 | 5 | |
NaotoMorita | 44:7d82e63b6a86 | 6 | #define M_PI 3.141592f |
NaotoMorita | 44:7d82e63b6a86 | 7 | |
NaotoMorita | 44:7d82e63b6a86 | 8 | |
NaotoMorita | 44:7d82e63b6a86 | 9 | class solaESKF |
NaotoMorita | 44:7d82e63b6a86 | 10 | { |
NaotoMorita | 44:7d82e63b6a86 | 11 | private: |
NaotoMorita | 44:7d82e63b6a86 | 12 | |
NaotoMorita | 44:7d82e63b6a86 | 13 | int nState; |
NaotoMorita | 44:7d82e63b6a86 | 14 | Matrix pihat; |
NaotoMorita | 44:7d82e63b6a86 | 15 | Matrix vihat; |
NaotoMorita | 44:7d82e63b6a86 | 16 | Matrix qhat; |
NaotoMorita | 44:7d82e63b6a86 | 17 | Matrix accBias; |
NaotoMorita | 44:7d82e63b6a86 | 18 | Matrix gyroBias; |
NaotoMorita | 44:7d82e63b6a86 | 19 | Matrix gravity; |
NaotoMorita | 44:7d82e63b6a86 | 20 | |
NaotoMorita | 44:7d82e63b6a86 | 21 | Matrix errState; |
NaotoMorita | 44:7d82e63b6a86 | 22 | Matrix Phat; |
NaotoMorita | 44:7d82e63b6a86 | 23 | Matrix Q; |
NaotoMorita | 44:7d82e63b6a86 | 24 | |
NaotoMorita | 47:2467de40951f | 25 | void setDiag(Matrix& mat, float val); |
NaotoMorita | 47:2467de40951f | 26 | void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex); |
NaotoMorita | 47:2467de40951f | 27 | |
NaotoMorita | 47:2467de40951f | 28 | public: |
NaotoMorita | 47:2467de40951f | 29 | |
NaotoMorita | 44:7d82e63b6a86 | 30 | solaESKF(); |
NaotoMorita | 44:7d82e63b6a86 | 31 | |
NaotoMorita | 47:2467de40951f | 32 | Matrix getPihat(); |
NaotoMorita | 47:2467de40951f | 33 | Matrix getVihat(); |
NaotoMorita | 47:2467de40951f | 34 | Matrix getQhat(); |
NaotoMorita | 47:2467de40951f | 35 | Matrix getAccBias(); |
NaotoMorita | 47:2467de40951f | 36 | Matrix getGyroBias(); |
NaotoMorita | 47:2467de40951f | 37 | Matrix getGravity(); |
NaotoMorita | 47:2467de40951f | 38 | Matrix getErrState(); |
NaotoMorita | 47:2467de40951f | 39 | |
NaotoMorita | 47:2467de40951f | 40 | void setPhatPosition(float val); |
NaotoMorita | 47:2467de40951f | 41 | void setPhatVelocity(float val); |
NaotoMorita | 47:2467de40951f | 42 | void setPhatAngleError(float val); |
NaotoMorita | 47:2467de40951f | 43 | void setPhatAccBias(float val); |
NaotoMorita | 47:2467de40951f | 44 | void setPhatGyroBias(float val); |
NaotoMorita | 47:2467de40951f | 45 | void setPhatGravity(float val); |
NaotoMorita | 47:2467de40951f | 46 | void setQVelocity(float val); |
NaotoMorita | 47:2467de40951f | 47 | void setQAngleError(float val); |
NaotoMorita | 47:2467de40951f | 48 | void setQAccBias(float val); |
NaotoMorita | 47:2467de40951f | 49 | void setQGyroBias(float val); |
NaotoMorita | 47:2467de40951f | 50 | |
NaotoMorita | 44:7d82e63b6a86 | 51 | void updateNominal(Matrix acc,Matrix gyro, float att_dt); |
NaotoMorita | 44:7d82e63b6a86 | 52 | void updateErrState(Matrix acc,Matrix gyro, float att_dt); |
NaotoMorita | 46:15988dc41923 | 53 | void updateGPSVelocity(Matrix velgps,Matrix R); |
NaotoMorita | 46:15988dc41923 | 54 | void updateGPSPosition(Matrix posgps,Matrix R); |
NaotoMorita | 46:15988dc41923 | 55 | void updateGPS(Matrix posgps,Matrix velgps,Matrix R); |
NaotoMorita | 50:dadad0567349 | 56 | void updateAccConstraints(Matrix acc,float palt,Matrix R); |
NaotoMorita | 46:15988dc41923 | 57 | void updateGyroConstraints(Matrix gyro,Matrix R); |
NaotoMorita | 44:7d82e63b6a86 | 58 | void fuseErr2Nominal(); |
NaotoMorita | 44:7d82e63b6a86 | 59 | |
NaotoMorita | 44:7d82e63b6a86 | 60 | void computeDcm(Matrix& dcm, Matrix quat); |
NaotoMorita | 44:7d82e63b6a86 | 61 | void setQhat(float ex,float ey,float ez); |
NaotoMorita | 44:7d82e63b6a86 | 62 | void setGravity(float gx,float gy,float gz); |
NaotoMorita | 44:7d82e63b6a86 | 63 | |
NaotoMorita | 44:7d82e63b6a86 | 64 | Matrix computeAngles(); |
NaotoMorita | 44:7d82e63b6a86 | 65 | Matrix quatmultiply(Matrix p, Matrix q); |
NaotoMorita | 44:7d82e63b6a86 | 66 | |
NaotoMorita | 44:7d82e63b6a86 | 67 | }; |
NaotoMorita | 44:7d82e63b6a86 | 68 | |
NaotoMorita | 44:7d82e63b6a86 | 69 | #endif |