Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
solaESKF.hpp@78:e36a7b844fb5, 2021-12-06 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Dec 06 08:24:13 2021 +0000
- Revision:
- 78:e36a7b844fb5
- Parent:
- 76:cd1b21936ef1
- Child:
- 79:365ea9277167
Eigen
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 | |
cocorlow | 78:e36a7b844fb5 | 4 | #include <Eigen/Core.h> |
cocorlow | 78:e36a7b844fb5 | 5 | #include <Eigen/LU.h> |
NaotoMorita | 54:cd514d9d4b19 | 6 | #include <cmath> |
NaotoMorita | 44:7d82e63b6a86 | 7 | |
cocorlow | 78:e36a7b844fb5 | 8 | using namespace Eigen; |
cocorlow | 78:e36a7b844fb5 | 9 | |
cocorlow | 78:e36a7b844fb5 | 10 | #ifndef M_PI_F |
cocorlow | 78:e36a7b844fb5 | 11 | #define M_PI_F 3.141592f |
cocorlow | 78:e36a7b844fb5 | 12 | #endif |
NaotoMorita | 44:7d82e63b6a86 | 13 | |
NaotoMorita | 44:7d82e63b6a86 | 14 | class solaESKF |
NaotoMorita | 44:7d82e63b6a86 | 15 | { |
NaotoMorita | 44:7d82e63b6a86 | 16 | private: |
NaotoMorita | 44:7d82e63b6a86 | 17 | |
NaotoMorita | 44:7d82e63b6a86 | 18 | int nState; |
cocorlow | 78:e36a7b844fb5 | 19 | Vector3f pihat; |
cocorlow | 78:e36a7b844fb5 | 20 | Vector3f vihat; |
cocorlow | 78:e36a7b844fb5 | 21 | Vector4f qhat; |
cocorlow | 78:e36a7b844fb5 | 22 | Vector3f accBias; |
cocorlow | 78:e36a7b844fb5 | 23 | Vector3f gyroBias; |
cocorlow | 78:e36a7b844fb5 | 24 | Vector3f gravity; |
NaotoMorita | 62:5519d34eb6e8 | 25 | |
cocorlow | 78:e36a7b844fb5 | 26 | VectorXf errState; |
cocorlow | 78:e36a7b844fb5 | 27 | MatrixXf Phat; |
cocorlow | 78:e36a7b844fb5 | 28 | MatrixXf Q; |
NaotoMorita | 62:5519d34eb6e8 | 29 | |
cocorlow | 78:e36a7b844fb5 | 30 | void setDiag(MatrixXf& mat, float val); |
cocorlow | 78:e36a7b844fb5 | 31 | void setBlockDiag(MatrixXf& 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 | |
cocorlow | 78:e36a7b844fb5 | 37 | Vector3f getPihat(); |
cocorlow | 78:e36a7b844fb5 | 38 | Vector3f getVihat(); |
cocorlow | 78:e36a7b844fb5 | 39 | Vector4f getQhat(); |
cocorlow | 78:e36a7b844fb5 | 40 | Vector3f getAccBias(); |
cocorlow | 78:e36a7b844fb5 | 41 | Vector3f getGyroBias(); |
cocorlow | 78:e36a7b844fb5 | 42 | Vector3f getGravity(); |
cocorlow | 78:e36a7b844fb5 | 43 | VectorXf getErrState(); |
NaotoMorita | 62:5519d34eb6e8 | 44 | |
NaotoMorita | 47:2467de40951f | 45 | void setPhatPosition(float val); |
NaotoMorita | 47:2467de40951f | 46 | void setPhatVelocity(float val); |
NaotoMorita | 47:2467de40951f | 47 | void setPhatAngleError(float val); |
NaotoMorita | 47:2467de40951f | 48 | void setPhatAccBias(float val); |
NaotoMorita | 47:2467de40951f | 49 | void setPhatGyroBias(float val); |
NaotoMorita | 47:2467de40951f | 50 | void setPhatGravity(float val); |
NaotoMorita | 47:2467de40951f | 51 | void setQVelocity(float val); |
NaotoMorita | 47:2467de40951f | 52 | void setQAngleError(float val); |
NaotoMorita | 47:2467de40951f | 53 | void setQAccBias(float val); |
NaotoMorita | 47:2467de40951f | 54 | void setQGyroBias(float val); |
NaotoMorita | 47:2467de40951f | 55 | |
cocorlow | 78:e36a7b844fb5 | 56 | void updateNominal(Vector3f acc, Vector3f gyro, float att_dt); |
cocorlow | 78:e36a7b844fb5 | 57 | void updateErrState(Vector3f acc, Vector3f gyro, float att_dt); |
cocorlow | 78:e36a7b844fb5 | 58 | void updateGPS(Vector3f posgps,float palt, Vector3f velgps, MatrixXf R); |
cocorlow | 78:e36a7b844fb5 | 59 | void updateGPSPosition(Vector3f posgps, float palt, Matrix3f R); |
cocorlow | 78:e36a7b844fb5 | 60 | void updateGPSVelocity(Vector3f velgps, Matrix3f R); |
cocorlow | 78:e36a7b844fb5 | 61 | void updateAcc(Vector3f acc, Matrix3f R); |
cocorlow | 78:e36a7b844fb5 | 62 | void updateHeading(float a, Matrix3f R); |
NaotoMorita | 44:7d82e63b6a86 | 63 | void fuseErr2Nominal(); |
NaotoMorita | 44:7d82e63b6a86 | 64 | |
cocorlow | 78:e36a7b844fb5 | 65 | void computeDcm(Matrix3f& dcm, Vector4f quat); |
NaotoMorita | 44:7d82e63b6a86 | 66 | void setQhat(float ex,float ey,float ez); |
NaotoMorita | 44:7d82e63b6a86 | 67 | void setGravity(float gx,float gy,float gz); |
cocorlow | 78:e36a7b844fb5 | 68 | Vector3f calcDynAcc(Vector3f acc); |
NaotoMorita | 44:7d82e63b6a86 | 69 | |
NaotoMorita | 58:93ba28cf5cb3 | 70 | void setPihat(float pi_x, float pi_y); |
osaka | 51:a5af3b280d23 | 71 | |
cocorlow | 78:e36a7b844fb5 | 72 | Vector3f computeAngles(); |
cocorlow | 78:e36a7b844fb5 | 73 | Vector4f quatmultiply(Vector4f p, Vector4f q); |
NaotoMorita | 44:7d82e63b6a86 | 74 | |
cocorlow | 78:e36a7b844fb5 | 75 | static Matrix3f Matrixcross(Vector3f v); |
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 | // |