PlatformKalmanFilter Class Reference

This class is a convenience class for a holonomic platform using a Kalman filter. More...

#include <MemoryX/libraries/helpers/EarlyVisionHelpers/PlatformKalmanFilter.h>

Public Member Functions
Eigen::Matrix3d	getCovariance () const
	Covariance matrix of the current belief of the state. More...
const KalmanFilter &	getFilter () const
double	getOrientation () const
const Eigen::Vector3d &	getPose () const
	Global pose of the holonomic platform. More...
Eigen::Vector2d	getPosition () const
	PlatformKalmanFilter (Eigen::Vector2d initialPosition, double initialRotation, double translationSensorStdDev=100.0, double rotationSensorStdDev=0.1, double translationVelocitySensorStdDev=1., double rotationVelocitySensorStdDev=1.)
	PlatformKalmanFilter. More...
void	predict (double velX, double velY, double velTheta, const IceUtil::Time &deltaT)
	Performs the predict-step of the Kalman filter. More...
void	setFilter (const KalmanFilter &value)
	Change the internal Kalman Filter. More...
void	update (double x, double y, double alpha)
	Performs the update-step of the Kalman filter. More...

Protected Member Functions
Eigen::Vector3d	inverseTransformPose (const Eigen::Vector4d &pose) const
Eigen::Vector4d	transformPose (const Eigen::Vector3d &pose) const

Protected Attributes
KalmanFilter	filter
Gaussian	motionNoise
Eigen::Vector3d	pose
Gaussian	state

Detailed Description

This class is a convenience class for a holonomic platform using a Kalman filter.

Definition at line 36 of file PlatformKalmanFilter.h.

Constructor & Destructor Documentation

PlatformKalmanFilter()

PlatformKalmanFilter	(	Eigen::Vector2d	initialPosition,
		double	initialRotation,
		double	translationSensorStdDev = 100.0,
		double	rotationSensorStdDev = 0.1,
		double	translationVelocitySensorStdDev = 1.,
		double	rotationVelocitySensorStdDev = 1.
	)

PlatformKalmanFilter.

Parameters

initialPosition	Initial position in mm
initialRotation	Initial rotation in rad
translationSensorStdDev	Standard deviation of the position sensing in mm
rotationSensorStdDev	Standard deviation of the orientation sensing in rad
translationVelocitySensorStdDev	Standard deviation of the translation velocity sensing in mm. This value is scaled with the current velocity in the predict step.
rotationVelocitySensorStdDev	Standard deviation of the rotation velocity sensing in rad. This value is scaled with the current velocity in the predict step.

Definition at line 29 of file PlatformKalmanFilter.cpp.

Here is the call graph for this function:

Member Function Documentation

getCovariance()

Eigen::Matrix3d getCovariance

(

)

const

Covariance matrix of the current belief of the state.

Definition at line 109 of file PlatformKalmanFilter.cpp.

Here is the call graph for this function:

getFilter()

const KalmanFilter & getFilter

(

)

const

Definition at line 117 of file PlatformKalmanFilter.cpp.

getOrientation()

double getOrientation

(

)

const

Definition at line 104 of file PlatformKalmanFilter.cpp.

getPose()

const Eigen::Vector3d & getPose

(

)

const

Global pose of the holonomic platform.

Returns

x,y,rotation

Definition at line 94 of file PlatformKalmanFilter.cpp.

getPosition()

Eigen::Vector2d getPosition

(

)

const

Definition at line 99 of file PlatformKalmanFilter.cpp.

inverseTransformPose()

Eigen::Vector3d inverseTransformPose ( const Eigen::Vector4d &  pose ) const

protected

Definition at line 137 of file PlatformKalmanFilter.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

predict()

void predict	(	double	velX,
		double	velY,
		double	velTheta,
		const IceUtil::Time &	deltaT
	)

Performs the predict-step of the Kalman filter.

Parameters

velX	translational velocity on x-axis of the platform in robot coordinates
velY	translational velocity on y-axis of the platform in robot coordinates
velTheta	rotational velocity on z-axis of the platform in robot coordinates
deltaT	timestep between last and current velocity measurement, i.e. between last and current predict() call

Definition at line 58 of file PlatformKalmanFilter.cpp.

Here is the call graph for this function:

setFilter()

void setFilter

(

const KalmanFilter &

value

)

Change the internal Kalman Filter.

Only use if you know what you are doing.

Definition at line 122 of file PlatformKalmanFilter.cpp.

Here is the call graph for this function:

transformPose()

Eigen::Vector4d transformPose ( const Eigen::Vector3d &  pose ) const

protected

Definition at line 128 of file PlatformKalmanFilter.cpp.

Here is the caller graph for this function:

update()

void update	(	double	x,
		double	y,
		double	alpha
	)

Performs the update-step of the Kalman filter.

Parameters

x	X-position of the platform in global coordinates
y	Y-position of the platform in global coordinates
alpha	Rotation of the platform in global coordinates

Definition at line 84 of file PlatformKalmanFilter.cpp.

Here is the call graph for this function:

Member Data Documentation

filter

KalmanFilter filter

protected

Definition at line 93 of file PlatformKalmanFilter.h.

motionNoise

Gaussian motionNoise

protected

Definition at line 95 of file PlatformKalmanFilter.h.

pose

Eigen::Vector3d pose

protected

Definition at line 96 of file PlatformKalmanFilter.h.

state

Gaussian state

protected

Definition at line 94 of file PlatformKalmanFilter.h.

---

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

• MemoryX/libraries/helpers/EarlyVisionHelpers/PlatformKalmanFilter.h
• MemoryX/libraries/helpers/EarlyVisionHelpers/PlatformKalmanFilter.cpp