kybalg::MutLocQuad Class Reference

Mutual localization class. More...

#include <MutLocQuad.h>

Inheritance diagram for kybalg::MutLocQuad:

List of all members.

Public Member Functions
	MutLocQuad (MutLocQuadPar mlqp)
	Constructor (for new options).
	MutLocQuad (int argc, char **argv, MutLocQuadPar mlqp)
	Constructor (for old options).
	MutLocQuad ()
	Empty constructor.
	~MutLocQuad ()
	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< BearIdTime >	_readBearingFromPos (ifstream &file, int id)
	It reads the position measurement to extract the bearing.
vector< BearIdTime >	_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< BearIdTime >	_readBearing (ifstream &file, int id)
	It reads the bearing 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.
vector< IMUDataTime >	_readTState (ifstream &file, MIPMatrix rotAcc, MIPMatrix rotGyro, Position3D biasAcc, Position3D scalingAcc, Position3D biasAngVel, Position3D scalingAngVel, int id)
	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< BearIdTime > > &inputTime, vector< vector< AngleBearId > > &inputMultiRegOff, int myIdPos, vector< vector< IMUDataTime > > &inputTStateOffTemp, vector< vector< IMUDataTime > > &inputTStateOff, vector< int > IdsF)
	It calculates the syncronization between bearing-only and IMU measurements.
void	_plateLinVel ()
	Method that transform the linear velocity of the UAV in the horizonthal reference frame.
void	_fillFilterMeas (MipAlgorithms::MutLocFilInput3D &fStepIn, int hisId)
	Function that fill the input for the particle filter.
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.
void	computeStartingTime ()
	Compute the starting offset if the corresponding option is enabled.
Static Public Member Functions
static MutLocQuad *	instance (MutLocQuadPar *mlqp)
	It is for singletone class (not used here).

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Detailed Description

Mutual localization class.

Author:

Marco Cognetti

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Constructor & Destructor Documentation

kybalg::MutLocQuad::MutLocQuad

(

MutLocQuadPar

mlqp

)

Constructor (for new options).

kybalg::MutLocQuad::MutLocQuad	(	int	argc,
		char **	argv,
		MutLocQuadPar	mlqp
	)

Constructor (for old options).

kybalg::MutLocQuad::MutLocQuad

(

)

Empty constructor.

kybalg::MutLocQuad::~MutLocQuad

(

)

Destructor.

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Member Function Documentation

Velocity3D kybalg::MutLocQuad::transformPQRRDPDYD	(	Velocity3D	pqr,
		Angle	roll,
		Angle	pitch
	)

Transform the angular velocities from (p q r) to (rollDot pitchDot yawDot).

Position3D kybalg::MutLocQuad::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::MutLocQuad::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::MutLocQuad::quadNoRollPitch	(	Acceleration3D	point,
		Angle	roll,
		Angle	pitch
	)

Preprocessing data: from a position measure it transforms making the quadcopter horizonthal (without roll and pitch).

vector< BearIdTime > kybalg::MutLocQuad::_readBearingFromPos	(	ifstream &	file,
		int	id
	)

It reads the position measurement to extract the bearing.

vector< BearIdTime > kybalg::MutLocQuad::_readBearingFromPosId	(	ifstream &	file,
		int	id,
		int	opt
	)

It reads the position with id measurement to extract the bearing.

vector< Pose3DIdTime > kybalg::MutLocQuad::_readBearingFromAbsPosId	(	ifstream &	file,
		int	id
	)

It reads the absolute position with id measurement to extract the bearing.

vector< BearIdTime > kybalg::MutLocQuad::_readBearing	(	ifstream &	file,
		int	id
	)

It reads the bearing measurement to extract the bearing.

vector< Velocity3D > kybalg::MutLocQuad::_readVelFile	(	ifstream &	file,
		int	id
	)

It reads the velocity file (optional).

void kybalg::MutLocQuad::_readIdsFile	(	ifstream &	file,
		vector< int > &	ris
	)

It reads the id file in case of offline mode.

vector< IMUDataTime > kybalg::MutLocQuad::_readTState	(	ifstream &	file,
		MIPMatrix	rotAcc,
		MIPMatrix	rotGyro,
		Position3D	biasAcc,
		Position3D	scalingAcc,
		Position3D	biasAngVel,
		Position3D	scalingAngVel,
		int	id
	)

It reads the IMU data file in case of offline mode.

void kybalg::MutLocQuad::_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::MutLocQuad::_computeInputMultiRegOff	(	vector< vector< BearIdTime > > &	inputTime,
		vector< vector< AngleBearId > > &	inputMultiRegOff,
		int	myIdPos,
		vector< vector< IMUDataTime > > &	inputTStateOffTemp,
		vector< vector< IMUDataTime > > &	inputTStateOff,
		vector< int >	IdsF
	)

It calculates the syncronization between bearing-only and IMU measurements.

void kybalg::MutLocQuad::_plateLinVel

(

)

Method that transform the linear velocity of the UAV in the horizonthal reference frame.

void kybalg::MutLocQuad::_fillFilterMeas	(	MipAlgorithms::MutLocFilInput3D &	fStepIn,
		int	hisId
	)

Function that fill the input for the particle filter.

Parameters:

[out]	&fStepIn	Input of the filter to be filled
[in]	hisId	Id of the other (not the owner) robot

MutLocQuad * kybalg::MutLocQuad::instance

(

MutLocQuadPar *

mlqp

)

[static]

It is for singletone class (not used here).

actualForm kybalg::MutLocQuad::step

(

bool &

nextStep

)

Step function. It is the function called at each time step.

string kybalg::MutLocQuad::getObjectName

(

)

const [inline, virtual]

It returns the name of this object.

Implements MIPObject.

void kybalg::MutLocQuad::computeStartingTime

(

)

Compute the starting offset if the corresponding option is enabled.

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

• algorithms/MultiReg/MutLocQuad.h
• algorithms/MultiReg/MutLocQuad.cpp