#include <KalmanImu.h>
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 () |
Parameters must be passed to the filter at startup.