PoseState.h File Reference

Header. More...

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

Go to the source code of this file.

Classes
class	osvr::kalman::pose_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::pose_externalized_rotation::Dimension = types::DimensionConstant< 12 >
using	osvr::kalman::pose_externalized_rotation::StateVector = types::DimVector< Dimension >
using	osvr::kalman::pose_externalized_rotation::StateVectorBlock3 = StateVector::FixedSegmentReturnType< 3 >::Type
using	osvr::kalman::pose_externalized_rotation::ConstStateVectorBlock3 = StateVector::ConstFixedSegmentReturnType< 3 >::Type
using	osvr::kalman::pose_externalized_rotation::StateVectorBlock6 = StateVector::FixedSegmentReturnType< 6 >::Type
using	osvr::kalman::pose_externalized_rotation::StateSquareMatrix = types::DimSquareMatrix< Dimension >

Functions
StateSquareMatrix	osvr::kalman::pose_externalized_rotation::stateTransitionMatrix (double dt)
	This returns A(deltaT), though if you're just predicting xhat-, use applyVelocity() instead for performance. More...
double	osvr::kalman::pose_externalized_rotation::computeAttenuation (double damping, double dt)
	Function used to compute the coefficient m in v_new = m * v_old. More...
StateSquareMatrix	osvr::kalman::pose_externalized_rotation::stateTransitionMatrixWithVelocityDamping (double dt, double damping)
	Returns the state transition matrix for a constant velocity with a single damping parameter (not for direct use in computing state transition, because it is very sparse, but in computing other values)
StateSquareMatrix	osvr::kalman::pose_externalized_rotation::stateTransitionMatrixWithSeparateVelocityDamping (double dt, double posDamping, double oriDamping)
	Returns the state transition matrix for a constant velocity with separate damping paramters for linear and angular velocity (not for direct use in computing state transition, because it is very sparse, but in computing other values)
StateVector	osvr::kalman::pose_externalized_rotation::applyVelocity (StateVector const &state, double dt)
	Computes A(deltaT)xhat(t-deltaT) More...
void	osvr::kalman::pose_externalized_rotation::dampenVelocities (StateVector &state, double damping, double dt)
	Dampen all 6 components of velocity by a single factor.
void	osvr::kalman::pose_externalized_rotation::separatelyDampenVelocities (StateVector &state, double posDamping, double oriDamping, double dt)
	Separately dampen the linear and angular velocities.
Eigen::Quaterniond	osvr::kalman::pose_externalized_rotation::incrementalOrientationToQuat (StateVector const &state)
template<typename OutputStream >
OutputStream &	osvr::kalman::pose_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::pose_externalized_rotation::position (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_externalized_rotation::position (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_externalized_rotation::incrementalOrientation (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_externalized_rotation::incrementalOrientation (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_externalized_rotation::velocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_externalized_rotation::velocity (StateVector const &vec)
StateVectorBlock3	osvr::kalman::pose_externalized_rotation::angularVelocity (StateVector &vec)
ConstStateVectorBlock3	osvr::kalman::pose_externalized_rotation::angularVelocity (StateVector const &vec)
StateVectorBlock6	osvr::kalman::pose_externalized_rotation::velocities (StateVector &vec)
	both translational and angular velocities

Detailed Description

Header.

Date

2015

Author

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

Function Documentation

applyVelocity()

StateVector osvr::kalman::pose_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.

computeAttenuation()

double osvr::kalman::pose_externalized_rotation::computeAttenuation ( double  damping, double  dt  )

inline

Function used to compute the coefficient m in v_new = m * v_old.

The damping value is for exponential decay.

operator<<()

template<typename OutputStream >

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

inline

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

stateTransitionMatrix()

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

inline

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