Public Member Functions
	AHRS (const Matrix &stationaryU, const Matrix &stationaryF, double g_e, bool flat=false)
	AHRS constructor. More...

std::pair< Mechanization_bRn2, KalmanFilter::State >	initialize (double g_e)

std::pair< Mechanization_bRn2, KalmanFilter::State >	integrate (const Mechanization_bRn2 &mech, KalmanFilter::State state, const Vector &u, double dt)

bool	isAidingAvailable (const Mechanization_bRn2 &mech, const Vector &f, const Vector &u, double ge) const

std::pair< Mechanization_bRn2, KalmanFilter::State >	aid (const Mechanization_bRn2 &mech, KalmanFilter::State state, const Vector &f, bool Farrell=0) const
	Aid the AHRS with an accelerometer reading, typically called when isAidingAvailable == true. More...

std::pair< Mechanization_bRn2, KalmanFilter::State >	aidGeneral (const Mechanization_bRn2 &mech, KalmanFilter::State state, const Vector &f, const Vector &f_expected, const Rot3 &R_previous) const

void	print (const std::string &s="") const
	print

Static Public Member Functions
static Matrix3	Cov (const Vector3s &m)

Public Types
typedef Eigen::Matrix< double, 3, Eigen::Dynamic >	Vector3s

Constructor & Destructor Documentation

◆ AHRS()

AHRS constructor.

Parameters

stationaryU	initial interval of gyro measurements, 3xn matrix
stationaryF	initial interval of accelerator measurements, 3xn matrix
g_e	if given, initializes gravity with correct value g_e

std::pair< Mechanization_bRn2, KalmanFilter::State > gtsam::AHRS::aid	(	const Mechanization_bRn2 &	mech,
		KalmanFilter::State	state,
		const Vector &	f,
		bool	Farrell = `0`
	)		const

Aid the AHRS with an accelerometer reading, typically called when isAidingAvailable == true.

Parameters

mech	current mechanization state
state	current Kalman filter state
f	accelerometer reading
Farrell

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