kybalg::mutLocQuadStereoCam Class Reference
Mutual localization class. More...
#include <MutLocQuadStereoCam.h>
Inheritance diagram for kybalg::mutLocQuadStereoCam:
Public Member Functions | |
| mutLocQuadStereoCam (mutLocQuadStereoCamPar mlqp) | |
| Constructor (for new options). | |
| mutLocQuadStereoCam (mutLocQuadStereoCamPar mlqp, bool falsePos) | |
| Constructor (for new options). | |
| mutLocQuadStereoCam (int argc, char **argv, mutLocQuadStereoCamPar mlqp) | |
| Constructor (for old options). | |
| mutLocQuadStereoCam () | |
| Empty constructor. | |
| ~mutLocQuadStereoCam () | |
| Destructor. | |
| Velocity3D | transformPQRRDPDYD (Velocity3D pqr, Angle roll, Angle pitch) |
| Transform the angular velocities from (p q r) to (rollDot pitchDot yawDot). | |
| Position3D | quadNoRollPitch (Position3D point, Angle roll, Angle pitch) |
| Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch). | |
| Velocity3D | quadNoRollPitch (Velocity3D point, Angle roll, Angle pitch) |
| Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch). | |
| Acceleration3D | quadNoRollPitch (Acceleration3D point, Angle roll, Angle pitch) |
| Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch). | |
| vector< bearDistIdTime > | _readBearingFromPos (ifstream &file, int id) |
| It reads the position measurement to extract the bearing. | |
| vector< bearDistIdTime > | _readBearingFromPosId (ifstream &file, int id, int opt) |
| It reads the position with id measurement to extract the bearing. | |
| vector< Pose3DIdTime > | _readBearingFromAbsPosId (ifstream &file, int id) |
| It reads the absolute position with id measurement to extract the bearing. | |
| vector< Velocity3D > | _readVelFile (ifstream &file, int id) |
| It reads the velocity file (optional). | |
| void | _readIdsFile (ifstream &file, vector< int > &ris) |
| It reads the id file in case of offline mode. | |
| void | _readFakeQuadIdsFile (ifstream &file) |
| It reads the id file where fake quadrotor ids is stored. | |
| vector< IMUDataTime > | _readTState (ifstream &file, MIPMatrix rotAcc, MIPMatrix rotGyro, Position3D biasAcc, Position3D scalingAcc, Position3D biasAngVel, Position3D scalingAngVel) |
| It reads the IMU data file in case of offline mode. | |
| void | _readIMUConfigFile (ifstream &file, vector< MIPMatrix > &RotAcc, vector< MIPMatrix > &rotGyro, vector< Position3D > &biasAcc, vector< Position3D > &scalingAcc, vector< Position3D > &biasAngVel, vector< Position3D > &scalingAngVel) |
| It reads the IMU configuration file. | |
| void | _computeInputMultiRegOff (vector< vector< bearDistIdTime > > &inputTime, vector< vector< bearDistId > > &inputMultiRegOff, int myIdPos, vector< vector< IMUDataTime > > &inputTStateOffTemp, vector< vector< IMUDataTime > > &inputTStateOff, vector< int > IdsF) |
| It calculates the syncronization between bearing-only and IMU measurements. | |
| actualForm | step (bool &nextStep) |
| Step function. It is the function called at each time step. | |
| string | getObjectName () const |
| It returns the name of this object. | |
Static Public Member Functions | |
| static mutLocQuadStereoCam * | instance (mutLocQuadStereoCamPar *mlqp) |
| It is for singletone class (not used here). | |
Detailed Description
Mutual localization class.
Constructor & Destructor Documentation
| kybalg::mutLocQuadStereoCam::mutLocQuadStereoCam | ( | mutLocQuadStereoCamPar | mlqp | ) |
Constructor (for new options).
| kybalg::mutLocQuadStereoCam::mutLocQuadStereoCam | ( | mutLocQuadStereoCamPar | mlqp, | |
| bool | falsePos | |||
| ) |
Constructor (for new options).
| kybalg::mutLocQuadStereoCam::mutLocQuadStereoCam | ( | int | argc, | |
| char ** | argv, | |||
| mutLocQuadStereoCamPar | mlqp | |||
| ) |
Constructor (for old options).
| kybalg::mutLocQuadStereoCam::mutLocQuadStereoCam | ( | ) |
Empty constructor.
| kybalg::mutLocQuadStereoCam::~mutLocQuadStereoCam | ( | ) |
Destructor.
Member Function Documentation
| Velocity3D kybalg::mutLocQuadStereoCam::transformPQRRDPDYD | ( | Velocity3D | pqr, | |
| Angle | roll, | |||
| Angle | pitch | |||
| ) |
Transform the angular velocities from (p q r) to (rollDot pitchDot yawDot).
| Position3D kybalg::mutLocQuadStereoCam::quadNoRollPitch | ( | Position3D | point, | |
| Angle | roll, | |||
| Angle | pitch | |||
| ) |
Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch).
| Velocity3D kybalg::mutLocQuadStereoCam::quadNoRollPitch | ( | Velocity3D | point, | |
| Angle | roll, | |||
| Angle | pitch | |||
| ) |
Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch).
| Acceleration3D kybalg::mutLocQuadStereoCam::quadNoRollPitch | ( | Acceleration3D | point, | |
| Angle | roll, | |||
| Angle | pitch | |||
| ) |
Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch).
| vector< bearDistIdTime > kybalg::mutLocQuadStereoCam::_readBearingFromPos | ( | ifstream & | file, | |
| int | id | |||
| ) |
It reads the position measurement to extract the bearing.
| vector< bearDistIdTime > kybalg::mutLocQuadStereoCam::_readBearingFromPosId | ( | ifstream & | file, | |
| int | id, | |||
| int | opt | |||
| ) |
It reads the position with id measurement to extract the bearing.
| vector< Pose3DIdTime > kybalg::mutLocQuadStereoCam::_readBearingFromAbsPosId | ( | ifstream & | file, | |
| int | id | |||
| ) |
It reads the absolute position with id measurement to extract the bearing.
| vector< Velocity3D > kybalg::mutLocQuadStereoCam::_readVelFile | ( | ifstream & | file, | |
| int | id | |||
| ) |
It reads the velocity file (optional).
| void kybalg::mutLocQuadStereoCam::_readIdsFile | ( | ifstream & | file, | |
| vector< int > & | ris | |||
| ) |
It reads the id file in case of offline mode.
| void kybalg::mutLocQuadStereoCam::_readFakeQuadIdsFile | ( | ifstream & | file | ) |
It reads the id file where fake quadrotor ids is stored.
| vector< IMUDataTime > kybalg::mutLocQuadStereoCam::_readTState | ( | ifstream & | file, | |
| MIPMatrix | rotAcc, | |||
| MIPMatrix | rotGyro, | |||
| Position3D | biasAcc, | |||
| Position3D | scalingAcc, | |||
| Position3D | biasAngVel, | |||
| Position3D | scalingAngVel | |||
| ) |
It reads the IMU data file in case of offline mode.
| void kybalg::mutLocQuadStereoCam::_readIMUConfigFile | ( | ifstream & | file, | |
| vector< MIPMatrix > & | RotAcc, | |||
| vector< MIPMatrix > & | rotGyro, | |||
| vector< Position3D > & | biasAcc, | |||
| vector< Position3D > & | scalingAcc, | |||
| vector< Position3D > & | biasAngVel, | |||
| vector< Position3D > & | scalingAngVel | |||
| ) |
It reads the IMU configuration file.
| void kybalg::mutLocQuadStereoCam::_computeInputMultiRegOff | ( | vector< vector< bearDistIdTime > > & | inputTime, | |
| vector< vector< bearDistId > > & | inputMultiRegOff, | |||
| int | myIdPos, | |||
| vector< vector< IMUDataTime > > & | inputTStateOffTemp, | |||
| vector< vector< IMUDataTime > > & | inputTStateOff, | |||
| vector< int > | IdsF | |||
| ) |
It calculates the syncronization between bearing-only and IMU measurements.
| mutLocQuadStereoCam * kybalg::mutLocQuadStereoCam::instance | ( | mutLocQuadStereoCamPar * | mlqp | ) | [static] |
It is for singletone class (not used here).
| actualForm kybalg::mutLocQuadStereoCam::step | ( | bool & | nextStep | ) |
Step function. It is the function called at each time step.
| string kybalg::mutLocQuadStereoCam::getObjectName | ( | ) | const [inline, virtual] |
The documentation for this class was generated from the following files:
- algorithms/MultiReg/MutLocQuadStereoCam.h
- algorithms/MultiReg/MutLocQuadStereoCam.cpp
