ChassisKalman Class Reference

#include <ChassisKalman.h>

Inheritance diagram for ChassisKalman:

Public Member Functions
	ChassisKalman ()
void	setDt (double dt)
Public Member Functions inherited from TinyEKF
double	getX (int i)
void	setX (int i, double value)
bool	step (double *z)

Public Attributes
double	dt

Protected Member Functions
double	pythag (double dx, double dy)
double	degreesToRadians (double degrees)
void	model (double fx[Nsta], double F[Nsta][Nsta], double hx[Mobs], double H[Mobs][Nsta]) override
Protected Member Functions inherited from TinyEKF
	TinyEKF ()
	~TinyEKF ()
void	setP (int i, int j, double value)
void	setQ (int i, int j, double value)
void	setR (int i, int j, double value)

Additional Inherited Members
Protected Attributes inherited from TinyEKF
double *	x

Detailed Description

Kalman filter for Chassis localization.

States are:

• x position (inches)
• x velocity (inches / second)
• y position (inches)
• y velocity (inches / second)
• heading (degrees)
• rotation (degrees / second)

Measurements are:

• LF velocity (inches / second) ... veloctities for RF, LB, and RB
• IMU angle (degrees)

Constructor & Destructor Documentation

ChassisKalman()

ChassisKalman::ChassisKalman

(

)

Member Function Documentation

degreesToRadians()

double ChassisKalman::degreesToRadians ( double  degrees )

protected

model()

void ChassisKalman::model ( double  fx[Nsta], double  F[Nsta][Nsta], double  hx[Mobs], double  H[Mobs][Nsta]  )

overrideprotectedvirtual

Implement this function for your EKF model.

Parameters

fx	gets output of state-transition function f(x0 .. n-1)
F	gets n × n Jacobian of f(x)
hx	gets output of observation function h(x0 .. n-1)
H	gets m × n Jacobian of h(x)

Implements TinyEKF.

pythag()

double ChassisKalman::pythag ( double  dx, double  dy  )

protected

setDt()

void ChassisKalman::setDt

(

double

dt

)

Sets the dt (delta time) used by the kalman filter to estimate how far the Chassis has traveled in a certain amount of time at a certain speed

Parameters

dt	The delta time in milliseconds

Member Data Documentation

dt

double ChassisKalman::dt

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

• core/subsystems/ChassisKalman.h
• core/subsystems/ChassisKalman.cpp