57 lines
1.8 KiB
C++
Executable File
57 lines
1.8 KiB
C++
Executable File
#pragma once
|
|
|
|
#include <string>
|
|
#include <cmath>
|
|
#include <memory>
|
|
|
|
#include <eigen3/Eigen/Core>
|
|
#include <eigen3/Eigen/Dense>
|
|
|
|
#include "generated/live_kf_constants.h"
|
|
#include "rednose/helpers/ekf_sym.h"
|
|
|
|
#define EARTH_GM 3.986005e14 // m^3/s^2 (gravitational constant * mass of earth)
|
|
|
|
using namespace EKFS;
|
|
|
|
Eigen::Map<Eigen::VectorXd> get_mapvec(Eigen::VectorXd& vec);
|
|
Eigen::Map<MatrixXdr> get_mapmat(MatrixXdr& mat);
|
|
std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(std::vector<Eigen::VectorXd>& vec_vec);
|
|
std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(std::vector<MatrixXdr>& mat_vec);
|
|
|
|
class LiveKalman {
|
|
public:
|
|
LiveKalman();
|
|
|
|
void init_state(Eigen::VectorXd& state, Eigen::VectorXd& covs_diag, double filter_time);
|
|
void init_state(Eigen::VectorXd& state, MatrixXdr& covs, double filter_time);
|
|
void init_state(Eigen::VectorXd& state, double filter_time);
|
|
|
|
Eigen::VectorXd get_x();
|
|
MatrixXdr get_P();
|
|
std::vector<MatrixXdr> get_R(int kind, int n);
|
|
|
|
std::optional<Estimate> predict_and_observe(double t, int kind, std::vector<Eigen::VectorXd> meas, std::vector<MatrixXdr> R = {});
|
|
std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
|
|
std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
|
|
std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
|
|
|
|
Eigen::VectorXd get_initial_x();
|
|
MatrixXdr get_initial_P();
|
|
|
|
MatrixXdr H(Eigen::VectorXd in);
|
|
|
|
private:
|
|
std::string name = "live";
|
|
|
|
std::shared_ptr<EKFSym> filter;
|
|
|
|
int dim_state;
|
|
int dim_state_err;
|
|
|
|
Eigen::VectorXd initial_x;
|
|
MatrixXdr initial_P;
|
|
MatrixXdr Q; // process noise
|
|
std::unordered_map<int, MatrixXdr> obs_noise;
|
|
};
|