robotInertial.hpp File Reference

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Detailed Description

Date:

26/03/2010

Author:

jsola

This file describes the class RobotInertial for a robot driven by inertial measurements.

Definition in file robotInertial.hpp.

Go to the source code of this file.

Classes
class	jafar::rtslam::RobotInertial
	Inertial measurements unit - robot motion model. More...
struct	jafar::rtslam::RobotInertial::TempVariables
Namespaces
namespace	jafar
	Transport info from GDAL Datasets to Bands' internal data.
namespace	jafar::rtslam
	Namespace rtslam for real-time slam module.
Defines
#define	USE_NEW_STATE   1
	Use some new state values to compute other state values:
#define	INIT_Q_FROM_G   1
	Initialize the orientation so that g is vertical.
#define	ESTIMATE_G_SIZE   0
	Size of estimate of g : 0 : do not estimate at all 1 : only estimate magnitude, and estimate absolute orientation to force g vertical 3 : estimate as a 3D vector.
#define	ESTIMATE_BIASES   3
	Estimate the accelerometers and gyrometers biases.
#define	CONTROL_DETERMINISTIC   0
	Considers that control is not random but deterministic.
Typedefs
typedef boost::shared_ptr < RobotInertial >	jafar::rtslam::robinertial_ptr_t

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Define Documentation

#define CONTROL_DETERMINISTIC   0

Considers that control is not random but deterministic.

This makes sense because the actual sampled noise in integrated.

Definition at line 56 of file robotInertial.hpp.

#define ESTIMATE_G_SIZE   0

Size of estimate of g : 0 : do not estimate at all 1 : only estimate magnitude, and estimate absolute orientation to force g vertical 3 : estimate as a 3D vector.

More linear, especially if initial orientation is unknow, but harder to integrate with absolute sensors or to export to an absolute frame.

Definition at line 45 of file robotInertial.hpp.

#define USE_NEW_STATE   1

Use some new state values to compute other state values:

• position update uses average between old velocity and new velocity
• velocity update uses new orientation

Of course this should be done for acceleration to speed and angular_velocity to angle as well, but these are compensated by the optimal timestamp correction.

Definition at line 29 of file robotInertial.hpp.