Class Kinematic reconstruction algorithm using an Extended Kalman Filter for IMU. More...

#include <KalmanReconsIMU.h>

Inheritance diagram for biorbd::rigidbody::KalmanReconsIMU:

Public Member Functions
	KalmanReconsIMU ()
	Initialize the Kalman filter and kalman reconstruction for inertial measurement units (IMU) data.

	KalmanReconsIMU (biorbd::Model &model, biorbd::rigidbody::KalmanParam params=biorbd::rigidbody::KalmanParam(100, 0.005, 1e-10))
	Initialize the Kalman filter and Kalman reconstruction for inertial measurement units (IMU) data. More...

biorbd::rigidbody::KalmanReconsIMU	DeepCopy () const
	Deep copy of the Kalman reconstruction from inertial measurement units (IMU) data. More...

void	DeepCopy (const biorbd::rigidbody::KalmanReconsIMU &other)
	Deep copy of a Kalman reconstruction from inertial measurement units (IMU) data. More...

virtual void	reconstructFrame (biorbd::Model &model, const std::vector< biorbd::rigidbody::IMU > &IMUobs, biorbd::rigidbody::GeneralizedCoordinates Q, biorbd::rigidbody::GeneralizedVelocity Qdot, biorbd::rigidbody::GeneralizedAcceleration *Qddot)
	Proceed to one iteration of the Kalman filter. More...

virtual void	reconstructFrame (biorbd::Model &model, const biorbd::utils::Vector &IMUobs, biorbd::rigidbody::GeneralizedCoordinates Q, biorbd::rigidbody::GeneralizedVelocity Qdot, biorbd::rigidbody::GeneralizedAcceleration *Qddot)
	Reconstruct the kinematics. More...

virtual void	reconstructFrame ()
	This function cannot be used to reconstruct frames.

bool	first ()
	Return if the first iteration was done. More...

Public Member Functions inherited from biorbd::rigidbody::KalmanRecons
	KalmanRecons ()
	Kalman reconstruction.

	KalmanRecons (biorbd::Model &model, unsigned int nbMeasure, KalmanParam params=KalmanParam())
	Kalman reconstruction. More...

virtual	~KalmanRecons ()
	Destroy class properly.

void	DeepCopy (const biorbd::rigidbody::KalmanRecons &other)
	Deep copy of Kalman reconstruction. More...

void	getState (biorbd::rigidbody::GeneralizedCoordinates Q=nullptr, biorbd::rigidbody::GeneralizedVelocity Qdot=nullptr, biorbd::rigidbody::GeneralizedAcceleration *Qddot=nullptr)
	Get the state (Q, Qdot, Qddot) More...

void	setInitState (const biorbd::rigidbody::GeneralizedCoordinates Q=nullptr, const biorbd::rigidbody::GeneralizedVelocity Qdot=nullptr, const biorbd::rigidbody::GeneralizedAcceleration *Qddot=nullptr)
	Set the initial guess of the reconstruction. More...

Protected Member Functions
virtual void	initialize ()
	Initialization of the filter.

virtual void	manageOcclusionDuringIteration (biorbd::utils::Matrix &InvTp, biorbd::utils::Vector &measure, const std::vector< unsigned int > &occlusion)
	Manage the occlusion during the iteration. More...

Protected Member Functions inherited from biorbd::rigidbody::KalmanRecons
biorbd::utils::Matrix	evolutionMatrix (const unsigned int m, unsigned int n, double Te)
	Create the evolution matrix. More...

biorbd::utils::Matrix	processNoiseMatrix (const unsigned int nbQ, double Te)
	Process the noise matrix. More...

biorbd::utils::Matrix	measurementNoiseMatrix (const unsigned int nbT, double val)
	Matrix of the noise on the measurements. More...

biorbd::utils::Matrix	initCovariance (const unsigned int nbQ, double val)
	Returns a initialized covianriance matrix. More...

biorbd::rigidbody::GeneralizedCoordinates	initState (const unsigned int nbQ)
	Initialize the states. More...

void	iteration (biorbd::utils::Vector measure, const biorbd::utils::Vector &projectedMeasure, const biorbd::utils::Matrix &Hessian, const std::vector< unsigned int > &occlusion=std::vector< unsigned int >())
	Compute an iteration of the Kalman filter. More...

Protected Attributes
std::shared_ptr< biorbd::utils::Matrix >	m_PpInitial
	Initial covariance matrix.

std::shared_ptr< bool >	m_firstIteration
	If first iteration was done.

Protected Attributes inherited from biorbd::rigidbody::KalmanRecons
std::shared_ptr< KalmanParam >	m_params
	The parameters of the Kalman filter.

std::shared_ptr< double >	m_Te
	Inherent parameter to the frequency.

std::shared_ptr< unsigned int >	m_nbDof
	Number of states.

std::shared_ptr< unsigned int >	m_nMeasure
	Number of measurements.

std::shared_ptr< biorbd::utils::Vector >	m_xp
	State vector.

std::shared_ptr< biorbd::utils::Matrix >	m_A
	Evolution matrix.

std::shared_ptr< biorbd::utils::Matrix >	m_Q
	Noise matrix.

std::shared_ptr< biorbd::utils::Matrix >	m_R
	Matrix of the noise on the measurements.

std::shared_ptr< biorbd::utils::Matrix >	m_Pp
	Covariance matrix.

Detailed Description

Class Kinematic reconstruction algorithm using an Extended Kalman Filter for IMU.

Definition at line 18 of file KalmanReconsIMU.h.

Constructor & Destructor Documentation

◆ KalmanReconsIMU()

biorbd::rigidbody::KalmanReconsIMU::KalmanReconsIMU	(	biorbd::Model &	model,
		biorbd::rigidbody::KalmanParam	params = `biorbd::rigidbody::KalmanParam(100, 0.005, 1e-10)`
	)

Initialize the Kalman filter and Kalman reconstruction for inertial measurement units (IMU) data.

Parameters

model	The joint model
params	The Kalman filter parameters

Definition at line 23 of file KalmanReconsIMU.cpp.

Member Function Documentation

◆ DeepCopy() [1/2]

biorbd::rigidbody::KalmanReconsIMU biorbd::rigidbody::KalmanReconsIMU::DeepCopy ( ) const

Deep copy of the Kalman reconstruction from inertial measurement units (IMU) data.

Returns: Copy of the Kalman reconstruction from IMU data

Definition at line 34 of file KalmanReconsIMU.cpp.

◆ DeepCopy() [2/2]

void biorbd::rigidbody::KalmanReconsIMU::DeepCopy ( const biorbd::rigidbody::KalmanReconsIMU & other )

Deep copy of a Kalman reconstruction from inertial measurement units (IMU) data.

Parameters

other The Kalman reconstruction to copy

Definition at line 41 of file KalmanReconsIMU.cpp.

◆ first()

bool biorbd::rigidbody::KalmanReconsIMU::first ( )

Return if the first iteration was done.

Returns: If the first iteration was done

Definition at line 68 of file KalmanReconsIMU.cpp.

◆ manageOcclusionDuringIteration()

void biorbd::rigidbody::KalmanReconsIMU::manageOcclusionDuringIteration	(	biorbd::utils::Matrix &	InvTp,
		biorbd::utils::Vector &	measure,
		const std::vector< unsigned int > &	occlusion
	)

protectedvirtual

Manage the occlusion during the iteration.

Parameters

InvTp	The inverse of the Tp matrix
measure	The vector actual measurement to track
occlusion	The vector where occlusions occurs

Reimplemented from biorbd::rigidbody::KalmanRecons.

Definition at line 56 of file KalmanReconsIMU.cpp.

◆ reconstructFrame() [1/2]

void biorbd::rigidbody::KalmanReconsIMU::reconstructFrame	(	biorbd::Model &	model,
		const biorbd::utils::Vector &	IMUobs,
		biorbd::rigidbody::GeneralizedCoordinates *	Q,
		biorbd::rigidbody::GeneralizedVelocity *	Qdot,
		biorbd::rigidbody::GeneralizedAcceleration *	Qddot
	)

virtual

Reconstruct the kinematics.

Parameters

model	The joint model
IMUobs	Observed inertial measurement unit (IMU) data in one large column-major vector
Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The generalized accelerations

Definition at line 91 of file KalmanReconsIMU.cpp.

◆ reconstructFrame() [2/2]

void biorbd::rigidbody::KalmanReconsIMU::reconstructFrame	(	biorbd::Model &	model,
		const std::vector< biorbd::rigidbody::IMU > &	IMUobs,
		biorbd::rigidbody::GeneralizedCoordinates *	Q,
		biorbd::rigidbody::GeneralizedVelocity *	Qdot,
		biorbd::rigidbody::GeneralizedAcceleration *	Qddot
	)

virtual

Proceed to one iteration of the Kalman filter.

Parameters

model	The joint model
IMUobs	Observed inertial measurement unit (IMU) data
Q	The generalized coordinates
Qdot	The generalized velocities
Qddot	The generalized accelerations

Definition at line 73 of file KalmanReconsIMU.cpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KalmanReconsIMU()

Member Function Documentation

◆ DeepCopy() [1/2]

◆ DeepCopy() [2/2]

◆ first()

◆ manageOcclusionDuringIteration()

◆ reconstructFrame() [1/2]

◆ reconstructFrame() [2/2]