Implements complementary filter as an estimator within the ROS framework. More...

Inheritance diagram for CompFilterEstimator:

Collaboration diagram for CompFilterEstimator:

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Classes
struct	Filter
	Struct of second-order low/high pass filter with derivative/intergral. More...

Public Member Functions
	CompFilterEstimator ()
	Constructor for CompFilterEstimator.

void	init (ros::NodeHandle &nh)
	Initialize Complementary Filter.

void	mocapCallBackHelper (const geometry_msgs::PoseStamped::ConstPtr &msg, const Eigen::Vector3d &pos)
	Helper function to filter mocap data.

bool	updateOnce (quad_msgs::RobotState &last_robot_state_msg)
	Perform CF update once.

Public Member Functions inherited from StateEstimator
	StateEstimator ()
	Constructor for StateEstimator.

void	readIMU (const sensor_msgs::Imu::ConstPtr &last_imu_msg, Eigen::Vector3d &fk, Eigen::Vector3d &wk, Eigen::Quaterniond &qk)
	Read IMU data.

void	readJointEncoder (const sensor_msgs::JointState::ConstPtr &last_joint_state_msg, Eigen::VectorXd &jk)
	Read joint encoder data.

void	loadMocapMsg (geometry_msgs::PoseStamped::ConstPtr last_mocap_msg)
	Load Mocap data to protected variable.

void	loadSensorMsg (sensor_msgs::Imu last_imu_msg, sensor_msgs::JointState last_joint_state_msg)
	Load imu and joint encoder data to protected variables.

Private Attributes
Filter	low_pass_filter
	Low pass filter.

Filter	high_pass_filter
	High pass filter.

std::vector< double >	high_pass_a_
	High Pass States.

std::vector< double >	high_pass_b_

std::vector< double >	high_pass_c_

std::vector< double >	high_pass_d_

std::vector< double >	low_pass_a_
	Low Pass States.

std::vector< double >	low_pass_b_

std::vector< double >	low_pass_c_

std::vector< double >	low_pass_d_

Eigen::Vector3d	vel_estimate_
	Best estimate of velocity.

Eigen::Vector3d	mocap_vel_estimate_
	Best estimate of velocity from mocap diff.

Eigen::Vector3d	imu_vel_estimate_
	Best estimate of imu velocity.

ros::Time	last_mocap_time_
	Last mocap time.

ros::NodeHandle	nh_
	Nodehandle to get param.

Additional Inherited Members
Protected Attributes inherited from StateEstimator
quad_msgs::RobotState	state_est_
	Last state estimate.

std::shared_ptr< quad_utils::QuadKD >	quadKD_
	QuadKD class.

geometry_msgs::PoseStamped::ConstPtr	last_mocap_msg_
	Last mocap data.

sensor_msgs::Imu	last_imu_msg_
	Most recent IMU data.

sensor_msgs::JointState	last_joint_state_msg_
	Most recent joint data.

Detailed Description

Implements complementary filter as an estimator within the ROS framework.

Constructor & Destructor Documentation

CompFilterEstimator::CompFilterEstimator ( )

void CompFilterEstimator::init ( ros::NodeHandle & nh )

virtual

Initialize Complementary Filter.

Parameters

[in] nh ROS Node Handler used to load parameters from yaml file

bool CompFilterEstimator::updateOnce ( quad_msgs::RobotState & last_robot_state_msg )

virtual

Perform CF update once.

Parameters

[out] last_robot_state_msg

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