EKFomegaEKFparam.cpp File Reference

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Detailed Description

A dual EKF to estimate the angular velocities and moment of inertia in the simple form of Euler's Eqns.

Author:

Author

rsharo

Version:

Revision

1.3

Date:

Date

2003/11/01 21:00:17

Definition in file EKFomegaEKFparam.cpp.

#include "ExtendedKalmanFilter.h"
#include "KalmanFilterHistory.h"
#include "utils/Time.h"
#include <iostream>
#include <fstream>
#include <float.h>

Include dependency graph for EKFomegaEKFparam.cpp:

Go to the source code of this file.

Functions
Matrix	state_Euler_Fmatrix (KalmanFilter *)
Matrix	state_Euler_Hmatrix (KalmanFilter *)
Matrix	state_Euler_Qmatrix (KalmanFilter *)
Matrix	state_Euler_Rmatrix (KalmanFilter *)
Vector	state_Euler_stateRHSFunc (double t, Vector initialState, Vector controls, Vector params)
Vector	state_Euler_measurementRHSFunc (ExtendedKalmanFilter *ekf)
Matrix	param_Euler_Ematrix (ExtendedKalmanFilter *stateEKF)
int	main ()

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Function Documentation

int main (   )

Declare and initialize intermediate variables Set intial conditions Prepare data files Open input and output files Read in initial measurements Set up intial kalman filter data Declare and initalize state filter and history Declare and initalize parameter filter and its history Get next measurement Set new SF data including new measurements Estimate state using measurements Perform param_ekf update Update the state_ekf parameter data. Update the history Definition at line 32 of file EKFomegaEKFparam.cpp. References KalmanFilterHistory::AppendHistory(), ExtendedKalmanFilter::EstimateState(), O_SESSAME::eye(), KalmanFilterHistory::GetHistory(), ExtendedKalmanFilter::GetPropagationStepSize(), ExtendedKalmanFilter::GetStateDot(), SequentialFilter::GetStateVector(), CAMmatrixBase::inverse(), O_SESSAME::Matrix, param_Euler_Ematrix(), SequentialFilter::SetControlVector(), KalmanFilter::SetCovarianceMatrix(), KalmanFilter::SetKalmanGainMatrix(), KalmanFilter::SetMeasurementCovarianceMatrix(), KalmanFilter::SetMeasurementJacobianMatrix(), ExtendedKalmanFilter::SetMeasurementRHS(), SequentialFilter::SetMeasurementVector(), SequentialFilter::SetParameterVector(), KalmanFilter::SetStateJacobianMatrix(), ExtendedKalmanFilter::SetStateRHS(), SequentialFilter::SetStateVector(), KalmanFilter::SetSystemProcessNoiseMatrix(), SequentialFilter::SetTimeOfEstimate(), SequentialFilter::SetTimeOfMeasurements(), state_Euler_Fmatrix(), state_Euler_Hmatrix(), state_Euler_measurementRHSFunc(), state_Euler_Qmatrix(), state_Euler_Rmatrix(), state_Euler_stateRHSFunc(), O_SESSAME::tick(), and O_SESSAME::Vector.

Matrix param_Euler_Ematrix (  ExtendedKalmanFilter *  stateEKF  )

Definition at line 269 of file EKFomegaEKFparam.cpp. References _, SequentialFilter::GetControlVector(), SequentialFilter::GetParameterVector(), ExtendedKalmanFilter::GetStateDot(), SequentialFilter::GetStateVector(), SequentialFilter::GetTimeOfEstimate(), O_SESSAME::Matrix, and O_SESSAME::Vector. Referenced by main().

Matrix state_Euler_Fmatrix (  KalmanFilter *   )

Matrix state_Euler_Hmatrix (  KalmanFilter *   )

Vector state_Euler_measurementRHSFunc (  ExtendedKalmanFilter *  ekf  )

Right now, this is providing angular velocity feedback For the one-millionth time, is this what we get from the rate gyros?

Matrix state_Euler_Qmatrix (  KalmanFilter *   )

Matrix state_Euler_Rmatrix (  KalmanFilter *   )

Vector state_Euler_stateRHSFunc (  double  t, Vector  initialState, Vector  controls, Vector  params )

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