/home/laradmin/lar/sensors/imu/imu_network/src/kalman_imu_data.cpp File Reference

Extended Kalman Filter algorithm implementation only with gyroscopes data. More...

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <string>
#include <iostream>
#include <math.h>
#include <cmath>
#include <vector>
#include <boost/format.hpp>
#include <kfilter/ekfilter.hpp>
#include <kfilter/kvector.hpp>
#include <imu_network/sensors_network.h>
#include <imu_network/filtered_imu_network.h>
#include <imu_network/filtered_imu.h>

Include dependency graph for kalman_imu_data.cpp:

Go to the source code of this file.

Classes
class	imuEKF_sp
Defines
#define	GYRO_CONVERT   M_PI/180*0.069565
#define	MAX_MEAN_IT   64
Functions
imuEKF_sp::Vector	_z (3)
void	chatterCallback (const imu_network::sensors_network::ConstPtr &msg)
int	main (int argc, char **argv)
Variables
imuEKF_sp::Vector	_u
ros::Publisher	chatter_pub
int	first_run = 0
vector< float >	gyro_mean_vect [MAX_MEAN_IT][3]
vector< float >	gyro_real_mean [3]
vector< float >	gyro_valx
vector< float >	gyro_valy
vector< float >	gyro_valz
imu_network::filtered_imu_network	kalman_data_network
vector< imuEKF_sp >	kalman_imu
int	marker_id
int	mean_it = 0
ros::NodeHandle *	n
int	sensors_number
vector< ros::Time >	time_stamp

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Detailed Description

Extended Kalman Filter algorithm implementation only with gyroscopes data.

Author:

Telmo Rafeiro n.º 45349 (rafeiro@ua.pt)

Definition in file kalman_imu_data.cpp.

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Define Documentation

#define GYRO_CONVERT   M_PI/180*0.069565

Definition at line 55 of file kalman_imu_data.cpp.

#define MAX_MEAN_IT   64

Definition at line 53 of file kalman_imu_data.cpp.

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Function Documentation

imuEKF_sp::Vector _z

(

3

)

void chatterCallback

(

const imu_network::sensors_network::ConstPtr &

msg

)

Definition at line 198 of file kalman_imu_data.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 335 of file kalman_imu_data.cpp.

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Variable Documentation

imuEKF_sp::Vector _u

Definition at line 179 of file kalman_imu_data.cpp.

ros::Publisher chatter_pub

Definition at line 59 of file kalman_imu_data.cpp.

int first_run = 0

Definition at line 192 of file kalman_imu_data.cpp.

vector<float> gyro_mean_vect[MAX_MEAN_IT][3]

Definition at line 186 of file kalman_imu_data.cpp.

vector<float> gyro_real_mean[3]

Definition at line 187 of file kalman_imu_data.cpp.

vector<float> gyro_valx

Definition at line 182 of file kalman_imu_data.cpp.

vector<float> gyro_valy

Definition at line 183 of file kalman_imu_data.cpp.

vector<float> gyro_valz

Definition at line 184 of file kalman_imu_data.cpp.

imu_network::filtered_imu_network kalman_data_network

Definition at line 196 of file kalman_imu_data.cpp.

vector<imuEKF_sp> kalman_imu

Definition at line 176 of file kalman_imu_data.cpp.

int marker_id

Definition at line 193 of file kalman_imu_data.cpp.

int mean_it = 0

Definition at line 194 of file kalman_imu_data.cpp.

ros::NodeHandle* n

Definition at line 58 of file kalman_imu_data.cpp.

int sensors_number

Definition at line 191 of file kalman_imu_data.cpp.

vector<ros::Time> time_stamp

Definition at line 181 of file kalman_imu_data.cpp.