gtsam  4.1.0
gtsam
gtsam::AHRS Class Reference

Public Member Functions

 AHRS (const Matrix &stationaryU, const Matrix &stationaryF, double g_e, bool flat=false)
 AHRS constructor. More...
 
std::pair< Mechanization_bRn2, KalmanFilter::Stateinitialize (double g_e)
 
std::pair< Mechanization_bRn2, KalmanFilter::Stateintegrate (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::Stateaid (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::StateaidGeneral (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()

gtsam::AHRS::AHRS ( const Matrix &  stationaryU,
const Matrix &  stationaryF,
double  g_e,
bool  flat = false 
)

AHRS constructor.

Parameters
stationaryUinitial interval of gyro measurements, 3xn matrix
stationaryFinitial interval of accelerator measurements, 3xn matrix
g_eif given, initializes gravity with correct value g_e

Member Function Documentation

◆ aid()

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
mechcurrent mechanization state
statecurrent Kalman filter state
faccelerometer reading
Farrell

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