CMOOSNavEKFEngine Class Reference

#include <MOOSNavEKFEngine.h>

Inheritance diagram for CMOOSNavEKFEngine:

Collaboration diagram for CMOOSNavEKFEngine:

List of all members.

Public Member Functions
virtual bool	Reset ()
bool	IsBooted ()
virtual bool	Iterate (double dfTimeNow)
virtual bool	Initialise (STRING_LIST sParams)
bool	AddData (const CMOOSMsg &Msg)
	CMOOSNavEKFEngine ()
virtual	~CMOOSNavEKFEngine ()
Protected Member Functions
bool	LimitVelocityStates ()
bool	MakeSymmetric ()
bool	PredictForward (double dfStop, double dfTimeNow)
bool	PublishResults ()
bool	OnIterateDone (double dfTimeNow)
bool	PreparePredictionMatrices ()
bool	FillGlobalParamModelMatrices (double dfDeltaT)
bool	InitialiseEstimates ()
bool	Boot ()
bool	DoPredict (double dfDeltaT)
int	HyperDimSelect (Matrix &Innov, Matrix &Cov, Matrix &InvCov)
bool	IsInside (Matrix &v, Matrix &Ellipse)
bool	ApplyHalfBakedHeuristics (double dfInnov, double dfInnovStd, int i)
Protected Attributes
Matrix	m_jF
Matrix	m_jQ
Matrix	m_S
Matrix	m_XTmp
Matrix	m_PTmp
double	m_dfXYDynamics
double	m_dfZDynamics
double	m_dfYawDynamics
double	m_dfPxx0
double	m_dfPyy0
double	m_dfPzz0
double	m_dfPhh0
double	m_dfPTide0
double	m_dfX0
double	m_dfY0
double	m_dfZ0
double	m_dfH0
double	m_dfTide0
bool	m_bBooted
double	m_dfLastIterated
double	m_dfLag
double	m_dfYawBiasStd
int	m_nUpdates
double	m_dfMaxZVel

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Detailed Description

Definition at line 44 of file MOOSNavEKFEngine.h.

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Constructor & Destructor Documentation

CMOOSNavEKFEngine::CMOOSNavEKFEngine

(

)

Definition at line 49 of file MOOSNavEKFEngine.cpp.

CMOOSNavEKFEngine::~CMOOSNavEKFEngine

(

)

[virtual]

Definition at line 81 of file MOOSNavEKFEngine.cpp.

---

Member Function Documentation

bool CMOOSNavEKFEngine::AddData

(

const CMOOSMsg &

Msg

)

[virtual]

Reimplemented from CMOOSNavEngine.

Definition at line 273 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::ApplyHalfBakedHeuristics	(	double	dfInnov,
		double	dfInnovStd,
		int	i
	)		[protected]

bool CMOOSNavEKFEngine::Boot

(

)

[protected]

Definition at line 495 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::DoPredict

(

double

dfDeltaT

)

[protected]

Definition at line 447 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::FillGlobalParamModelMatrices

(

double

dfDeltaT

)

[protected]

Definition at line 478 of file MOOSNavEKFEngine.cpp.

int CMOOSNavEKFEngine::HyperDimSelect	(	Matrix &	Innov,
		Matrix &	Cov,
		Matrix &	InvCov
	)		[protected]

We want to find the components of v that is most responsible for us being outside the innovation covariance ellpsoid ( scaled by Chi squared test point as v'Si v = e is scaled version of v'Si v = 1 - all axes scaled by 1/sqrt(e) ) This method finds the intesection of the innovation vector with the normalised ellipsoid (shapes are identical) then determines the component that is most responsible for the length of the vecotr between innovation and point of intersection

Definition at line 778 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::Initialise

(

STRING_LIST

sParams

)

[virtual]

Reimplemented from CMOOSNavEngine.

Definition at line 87 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::InitialiseEstimates

(

)

[protected]

Definition at line 517 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::IsBooted

(

)

Definition at line 538 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::IsInside	(	Matrix &	v,
		Matrix &	Ellipse
	)		[protected]

Simple function returning true if vector v is inside ellipsoid defined by Ellipse

Definition at line 854 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::Iterate

(

double

dfTimeNow

)

[virtual]

Reimplemented from CMOOSNavEngine.

Definition at line 284 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::LimitVelocityStates

(

)

[protected]

Definition at line 729 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::MakeSymmetric

(

)

[protected]

Definition at line 696 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::OnIterateDone

(

double

dfTimeNow

)

[protected]

Definition at line 562 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::PredictForward	(	double	dfStop,
		double	dfTimeNow
	)		[protected]

Definition at line 684 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::PreparePredictionMatrices

(

)

[protected]

Definition at line 543 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::PublishResults

(

)

[protected]

Definition at line 609 of file MOOSNavEKFEngine.cpp.

bool CMOOSNavEKFEngine::Reset

(

)

[virtual]

Reimplemented from CMOOSNavEngine.

Definition at line 709 of file MOOSNavEKFEngine.cpp.

---

Member Data Documentation

bool CMOOSNavEKFEngine::m_bBooted [protected]

Definition at line 96 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfH0 [protected]

Definition at line 93 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfLag [protected]

Definition at line 98 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfLastIterated [protected]

Definition at line 97 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfMaxZVel [protected]

Definition at line 102 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfPhh0 [protected]

Definition at line 87 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfPTide0 [protected]

Definition at line 88 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfPxx0 [protected]

Definition at line 84 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfPyy0 [protected]

Definition at line 85 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfPzz0 [protected]

Definition at line 86 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfTide0 [protected]

Definition at line 94 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfX0 [protected]

Definition at line 90 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfXYDynamics [protected]

Definition at line 80 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfY0 [protected]

Definition at line 91 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfYawBiasStd [protected]

Definition at line 99 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfYawDynamics [protected]

Definition at line 82 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfZ0 [protected]

Definition at line 92 of file MOOSNavEKFEngine.h.

double CMOOSNavEKFEngine::m_dfZDynamics [protected]

Definition at line 81 of file MOOSNavEKFEngine.h.

Matrix CMOOSNavEKFEngine::m_jF [protected]

Definition at line 73 of file MOOSNavEKFEngine.h.

Matrix CMOOSNavEKFEngine::m_jQ [protected]

Definition at line 74 of file MOOSNavEKFEngine.h.

int CMOOSNavEKFEngine::m_nUpdates [protected]

Definition at line 100 of file MOOSNavEKFEngine.h.

Matrix CMOOSNavEKFEngine::m_PTmp [protected]

Definition at line 78 of file MOOSNavEKFEngine.h.

Matrix CMOOSNavEKFEngine::m_S [protected]

Definition at line 75 of file MOOSNavEKFEngine.h.

Matrix CMOOSNavEKFEngine::m_XTmp [protected]

Definition at line 77 of file MOOSNavEKFEngine.h.

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

• /home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSNavEKFEngine.h
• /home/toby/moos-ivp/MOOS-2375-Oct0611/NavigationAndControl/MOOSNavLib/MOOSNavEKFEngine.cpp