KalmanFilterImu Class Reference
[Mutual localization]

Represents a Kalman Filter. More...

Detailed Description

Represents a Kalman Filter.

Parameters must be passed to the filter at startup.

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


Public Member Functions
	KalmanFilterImu (string namefile)
	Default constructor.
	~KalmanFilterImu ()
void	setAppliedForce (Decimal F)
void	setAppliedTorque (Decimal To)
void	setCycleTime (Decimal T)
void	setCurrentRobotPlane (int Plane)
void	setGPSAvailability ()
	Set availability of GPS measures.
void	unsetGPSAvailability ()
	Unset availability of GPS measures.
Decimal	getAppliedForce ()
Decimal	getAppliedTorque ()
Decimal	getCycleTime ()
int	getCurrentRobotPlane ()
int	getGPSAvailability ()
MIPMatrix *	getRobStatus ()
void	updateENCMeasuresTime (Decimal Time)
void	updateIMUMeasuresTime (Decimal Time)
void	updateGPSMeasuresTime (Decimal Time)
void	ProcessENCMeasures (MIPMatrix *RobStat)
void	ProcessIMUMeasures (Acceleration3D &acc, Acceleration3D &gyro, Orientation3D &magn)
bool	processGPSMeasures (Position3D &pos)
void	PositionErrorEstimate (Position3D &pos)
void	updateKalmanFilterImu ()