OrientationState.h File Reference

Header. More...

#include "FlexibleKalmanBase.h"
#include "ExternalQuaternion.h"
#include <Eigen/Core>
#include <Eigen/Geometry>

Go to the source code of this file.

Classes
class	osvr::kalman::orient_externalized_rotation::State

Namespaces
	osvr
	The main namespace for all C++ elements of the framework, internal and external.
	osvr::kalman
	Header-only framework for building Kalman-style filters, prediction, and sensor fusion.

Typedefs
using	osvr::kalman::orient_externalized_rotation::Dimension = types::DimensionConstant< 6 >
using	osvr::kalman::orient_externalized_rotation::StateVector = types::DimVector< Dimension >
using	osvr::kalman::orient_externalized_rotation::StateVectorBlock3 = StateVector::FixedSegmentReturnType< 3 >::Type
using	osvr::kalman::orient_externalized_rotation::ConstStateVectorBlock3 = StateVector::ConstFixedSegmentReturnType< 3 >::Type
using	osvr::kalman::orient_externalized_rotation::StateSquareMatrix = types::DimSquareMatrix< Dimension >

Functions
StateSquareMatrix	osvr::kalman::orient_externalized_rotation::stateTransitionMatrix (double dt)
	This returns A(deltaT), though if you're just predicting xhat-, use applyVelocity() instead for performance. More...
StateSquareMatrix	osvr::kalman::orient_externalized_rotation::stateTransitionMatrixWithVelocityDamping (double dt, double damping)
StateVector	osvr::kalman::orient_externalized_rotation::applyVelocity (StateVector const &state, double dt)
	Computes A(deltaT)xhat(t-deltaT) More...
void	osvr::kalman::orient_externalized_rotation::dampenVelocities (StateVector &state, double damping, double dt)
Eigen::Quaterniond	osvr::kalman::orient_externalized_rotation::incrementalOrientationToQuat (StateVector const &state)
template<typename OutputStream >
OutputStream &	osvr::kalman::orient_externalized_rotation::operator<< (OutputStream &os, State const &state)
	Stream insertion operator, for displaying the state of the state class. More...
Accessors to blocks in the state vector.
StateVectorBlock3	osvr::kalman::orient_externalized_rotation::incrementalOrientation (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::orient_externalized_rotation::incrementalOrientation (StateVector const &vec)
StateVectorBlock3	osvr::kalman::orient_externalized_rotation::angularVelocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::orient_externalized_rotation::angularVelocity (StateVector const &vec)

Detailed Description

Header.

Date

2015

Author

Sensics, Inc. http://sensics.com/osvr

Function Documentation

applyVelocity()

StateVector osvr::kalman::orient_externalized_rotation::applyVelocity ( StateVector const &  state, double  dt  )

inline

Computes A(deltaT)xhat(t-deltaT)

Todo:

benchmark - assuming for now that the manual small calcuations are faster than the matrix ones.

operator<<()

template<typename OutputStream >

OutputStream& osvr::kalman::orient_externalized_rotation::operator<< ( OutputStream &  os, State const &  state  )

inline

Stream insertion operator, for displaying the state of the state class.

stateTransitionMatrix()

StateSquareMatrix osvr::kalman::orient_externalized_rotation::stateTransitionMatrix ( double  dt )

inline

This returns A(deltaT), though if you're just predicting xhat-, use applyVelocity() instead for performance.