WheelKalman Class Reference

#include <WheelKalman.h>

Inheritance diagram for WheelKalman:

Public Member Functions
	WheelKalman ()
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
double	u [ControlInputs]

Protected Member Functions
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)

Protected Attributes
double	B [Nsta][ControlInputs]
Protected Attributes inherited from TinyEKF
double *	x

Detailed Description

The WheelKalman class is a Kalman filter used to control a single wheel/motor. It uses an Extended Kalman Filter (EKF) to implement position control of the wheel.

Constructor & Destructor Documentation

WheelKalman()

WheelKalman::WheelKalman

(

)

Creates a new WheelKalman object

Member Function Documentation

model()

void WheelKalman::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.

setDt()

void WheelKalman::setDt

(

double

dt

)

Sets the dt (time delta) of the kalman filter, used to predict how much the position will change each timestep based on speed and dt

Parameters

dt	The time delta in milliseconds

Member Data Documentation

B

double WheelKalman::B[Nsta][ControlInputs]

protected

dt

double WheelKalman::dt

u

double WheelKalman::u[ControlInputs]

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

• core/util/algorithms/WheelKalman.h
• core/util/algorithms/WheelKalman.cpp