EKFomega.cpp File Reference

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Detailed Description

An EKF to estimate the angular velocities 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 EKFomega.cpp.

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

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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)
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 Get next measurement Set new SF data including new measurements Estimate state using measurements Update the history Definition at line 28 of file EKFomega.cpp. References KalmanFilterHistory::AppendHistory(), ExtendedKalmanFilter::EstimateState(), O_SESSAME::eye(), KalmanFilterHistory::GetHistory(), O_SESSAME::Matrix, 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 state_Euler_Fmatrix (  KalmanFilter *   )

Definition at line 167 of file EKFomega.cpp. References SequentialFilter::GetParameterVector(), SequentialFilter::GetStateVector(), O_SESSAME::Matrix, O_SESSAME::skew(), and O_SESSAME::Vector. Referenced by main().

Matrix state_Euler_Hmatrix (  KalmanFilter *   )

Definition at line 190 of file EKFomega.cpp. References O_SESSAME::eye(), and O_SESSAME::Matrix. Referenced by main().

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? Definition at line 156 of file EKFomega.cpp. References SequentialFilter::GetStateVector(), and O_SESSAME::Vector. Referenced by main().

Matrix state_Euler_Qmatrix (  KalmanFilter *   )

Definition at line 199 of file EKFomega.cpp. References O_SESSAME::eye(), and O_SESSAME::Matrix. Referenced by main().

Matrix state_Euler_Rmatrix (  KalmanFilter *   )

Definition at line 208 of file EKFomega.cpp. References O_SESSAME::eye(), and O_SESSAME::Matrix. Referenced by main().

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

Definition at line 133 of file EKFomega.cpp. References O_SESSAME::Matrix, O_SESSAME::skew(), and O_SESSAME::Vector. Referenced by main().

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