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VerticalFilter

This Class estimates the state of the vehicle in the horizontal frame. The state includes depth, velocity, altitude, and bouyancy. The latest state estimate of the filter is obtained using the exposed function getEstimate(). Measurement updates to the filter is done either using measCallback(). More...

#include <VerticalFilter.h>

Public Classes

Name
struct config

Public Functions

Name
VerticalFilter()
Constructor.
virtual ~VerticalFilter() =default
Destructor.
void configure(const VerticalFilter::config configurations)
Configure filter program variables and set initialization conditions.
void computePredict(auv_msgs::NavigationStatus & state, ros::Time t_request)
Propagate the state to the current time.
void newMeasurement(const FilterGimmicks::measurement & m)
Checks and processes a new measurement.
void resetFilter()
Resets the filter, will require re-initialization to start back update again.

Public Attributes

Name
const int MEAS_LEN
Measurement length.

Detailed Description

class VerticalFilter;

This Class estimates the state of the vehicle in the horizontal frame. The state includes depth, velocity, altitude, and bouyancy. The latest state estimate of the filter is obtained using the exposed function getEstimate(). Measurement updates to the filter is done either using measCallback().

@Note Bouyancy is estimated but the output is not exposed to the user.

Public Functions Documentation

function VerticalFilter

VerticalFilter()

Constructor.

function ~VerticalFilter

virtual ~VerticalFilter() =default

Destructor.

function configure

void configure(
    const VerticalFilter::config configurations
)

Configure filter program variables and set initialization conditions.

Parameters:

  • config_ structure with configurations

function computePredict

void computePredict(
    auv_msgs::NavigationStatus & state,
    ros::Time t_request
)

Propagate the state to the current time.

Parameters:

  • state State vector
  • t_request current time

function newMeasurement

void newMeasurement(
    const FilterGimmicks::measurement & m
)

Checks and processes a new measurement.

Parameters:

  • m Measurement

Return: true if measurement is processed successfully

function resetFilter

void resetFilter()

Resets the filter, will require re-initialization to start back update again.

Public Attributes Documentation

variable MEAS_LEN

static const int MEAS_LEN = 3;

Measurement length.

Updated on 2024-03-07 at 10:30:49 +0000

Last update: March 7, 2024