PoseEKF Class Reference

Extended Kalman Filter implementation for maintaining the robot's pose. More...

#include <pose_ekf.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW void	setProcessNoise (float xNoise, float yNoise, float thetaNoise, float measNoise)
	Set the process noise values for the Kalman filter matrices.
	PoseEKF (float initial_x, float initial_y, float initial_theta)
	Construct a new Pose EKF object.
void	predict (float dx_local, float dy_local, float dtheta)
	The prediction step of the EKF based on local relative movements.
void	updateIMU (float measured_theta, float dynamic_R)
	Update the state using absolute heading measured by an IMU.
void	updateTrackingWheels (const std::vector< TrackingWheelConfig > &configs, const Eigen::VectorXf &measured_deltas, float dx_local, float dy_local, float dtheta, float wheel_noise)
	Update the state using unpowered tracking wheels data.
void	setTrackingWheelNoise (float xNoise, float yNoise, float thetaNoise)
	Set specific process noises when using tracking wheels.
float	getX () const
	Get current X position.
float	getY () const
	Get current Y position.
float	getTheta () const
	Get current heading angle.
void	setPose (float new_x, float new_y, float new_theta)
	Reset the state to a specific pose.

Detailed Description

Extended Kalman Filter implementation for maintaining the robot's pose.

Fuses IMU heading and tracking wheel (or motor encoder) deltas to estimate X, Y, and Theta coordinates on the field.

Definition at line 16 of file pose_ekf.h.

Constructor & Destructor Documentation

PoseEKF()

PoseEKF::PoseEKF ( float  initial_x, float  initial_y, float  initial_theta  )

inline

Construct a new Pose EKF object.

Parameters

initial_x	Starting X position.
initial_y	Starting Y position.
initial_theta	Starting heading.

Definition at line 51 of file pose_ekf.h.

Member Function Documentation

setProcessNoise()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW void PoseEKF::setProcessNoise ( float  xNoise, float  yNoise, float  thetaNoise, float  measNoise  )

inline

Set the process noise values for the Kalman filter matrices.

Parameters

xNoise	Process noise in the X direction.
yNoise	Process noise in the Y direction.
thetaNoise	Process noise for the heading.
measNoise	Measurement noise parameter.

Definition at line 36 of file pose_ekf.h.

predict()

void PoseEKF::predict ( float  dx_local, float  dy_local, float  dtheta  )

inline

The prediction step of the EKF based on local relative movements.

Parameters

dx_local	Change in local X position.
dy_local	Change in local Y position.
dtheta	Change in heading.

Definition at line 65 of file pose_ekf.h.

updateIMU()

void PoseEKF::updateIMU ( float  measured_theta, float  dynamic_R  )

inline

Update the state using absolute heading measured by an IMU.

Parameters

measured_theta	Heading read from the IMU.
dynamic_R	Dynamic measurement noise.

Definition at line 114 of file pose_ekf.h.

updateTrackingWheels()

void PoseEKF::updateTrackingWheels ( const std::vector< TrackingWheelConfig > &  configs, const Eigen::VectorXf &  measured_deltas, float  dx_local, float  dy_local, float  dtheta, float  wheel_noise  )

inline

Update the state using unpowered tracking wheels data.

Parameters

configs	Vector of tracking wheel configurations.
measured_deltas	Measurement differences for each wheel since the last step.
dx_local	Estimated local X change.
dy_local	Estimated local Y change.
dtheta	Estimated heading change.
wheel_noise	Sensor noise for the tracking wheels.

Definition at line 135 of file pose_ekf.h.

setTrackingWheelNoise()

void PoseEKF::setTrackingWheelNoise ( float  xNoise, float  yNoise, float  thetaNoise  )

inline

Set specific process noises when using tracking wheels.

Parameters

xNoise	Process noise in X direction.
yNoise	Process noise in Y direction.
thetaNoise	Process noise for the heading.

Definition at line 186 of file pose_ekf.h.

getX()

float PoseEKF::getX ( ) const

inline

Get current X position.

Returns

float The X position.

Definition at line 196 of file pose_ekf.h.

getY()

float PoseEKF::getY ( ) const

inline

Get current Y position.

Returns

float The Y position.

Definition at line 202 of file pose_ekf.h.

getTheta()

float PoseEKF::getTheta ( ) const

inline

Get current heading angle.

Returns

float The heading in radians.

Definition at line 208 of file pose_ekf.h.

setPose()

void PoseEKF::setPose ( float  new_x, float  new_y, float  new_theta  )

inline

Reset the state to a specific pose.

Parameters

new_x	New X position.
new_y	New Y position.
new_theta	New heading angle.

Definition at line 217 of file pose_ekf.h.