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.
const KalmanFilter &	getFilter () const
double	getOrientation () const
const Eigen::Vector3d &	getPose () const
	Global pose of the holonomic platform.
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.
void	predict (double velX, double velY, double velTheta, const IceUtil::Time &deltaT)
	Performs the predict-step of the Kalman filter.
void	setFilter (const KalmanFilter &value)
	Change the internal Kalman Filter.
void	update (double x, double y, double alpha)
	Performs the update-step of the Kalman filter.

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.

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.

Member Function Documentation

getCovariance()

Eigen::Matrix3d getCovariance

(

)

const

Covariance matrix of the current belief of the state.

getFilter()

const KalmanFilter & getFilter

(

)

const

getOrientation()

double getOrientation

(

)

const

getPose()

const Eigen::Vector3d & getPose

(

)

const

Global pose of the holonomic platform.

Returns

x,y,rotation

getPosition()

Eigen::Vector2d getPosition

(

)

const

inverseTransformPose()

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

protected

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

setFilter()

void setFilter

(

const KalmanFilter &

value

)

Change the internal Kalman Filter.

Only use if you know what you are doing.

transformPose()

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

protected

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

Member Data Documentation

filter

KalmanFilter filter

protected

motionNoise

Gaussian motionNoise

protected

pose

Eigen::Vector3d pose

protected

state

Gaussian state

protected

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

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