package

Estimation.MocapExternalOdometryErrorState

Mocap-aided external-odometry error-state Kalman filter

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
constant	`TangentLength`	`Integer`	`= 12`	Tangent covariance dimension
constant	`MeasurementLength`	`Integer`	`= 6`	Pose measurement tangent dimension

Members

Name	Kind	Description
Quaternion	type
Vector3	type
Covariance	type
TangentVector	type
MeasurementVector	type
MeasurementMatrix	type
MeasurementCovariance	type
CrossCovariance	type
Gain	type
NominalState	record	Nominal rigid-body state carried by the geometric error-state EKF
State	record	Complete geometric error-state EKF state
InitialVariances	record	Diagonal variances used to initialize the geometric error-state EKF
ProcessNoise	record	Continuous-time diagonal process-noise spectral densities
PoseMeasurement	record	Position and attitude observation
PoseMeasurementNoise	record	Diagonal pose measurement variances
inject	function	Inject a tangent correction into the nominal state
initialize	function	Initialize the geometric error-state EKF from a pose measurement
predictNominal	function	Pure discrete nominal-state map, separated from covariance propagation
tangentTransition	function	Discrete tangent-state transition used by the geometric error-state EKF
discreteProcessCovariance	function	Discrete tangent-space process covariance
poseMeasurementMatrix	function	Pose observation map in tangent coordinates
poseMeasurementCovariance	function	Pose measurement covariance in residual ordering
poseResidual	function	Invariant attitude and additive position innovation
predict	function	Discrete SE_2(3) geometric error-state EKF prediction
correct	function	Pose correction for the mocap geometric error-state EKF
step	function	One discrete geometric error-state EKF prediction and optional pose correction

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

package MocapExternalOdometryErrorState
  "Mocap-aided external-odometry error-state Kalman filter"
  constant Integer TangentLength = 12
    "Tangent covariance dimension";
  constant Integer MeasurementLength = 6
    "Pose measurement tangent dimension";

  type Quaternion = Real[4] "Scalar-first Hamilton quaternion {w,x,y,z}";
  type Vector3 = Real[3] "Three-dimensional coordinate vector";
  type Covariance = Real[12, 12]
    "Full tangent covariance; entry units follow the documented tangent ordering";
  type TangentVector = Real[12];
  type MeasurementVector = Real[6];
  type MeasurementMatrix = Real[6, 12];
  type MeasurementCovariance = Real[6, 6];
  type CrossCovariance = Real[12, 6];
  type Gain = Real[12, 6];
end MocapExternalOdometryErrorState;