extended-kalman.h File Reference

Defines an Extended Kalman Filter (EKF) class for state estimation. More...

#include <ArduinoEigen.h>
#include <EEPROM.h>
#include <datatypes.h>

Go to the source code of this file.

Classes
class	EKF_Filter
	Extended Kalman Filter (EKF) class for state estimation. More...

Namespaces
namespace	ekf

Macros
#define	DIM_X   3
#define	DIM_Z   NUM_LANDMARKS

Functions
Matrix< double, DIM_X, 1 >	predictionModel (const Matrix< double, DIM_X, 1 > &currentState)
	Prediction model for the Extended Kalman Filter (EKF). More...
Matrix< double, DIM_Z, DIM_X >	calculateJacobianMatrix (const Matrix< double, DIM_X, 1 > &vecX)
	Calculate the Jacobian matrix for the measurement model. More...
Matrix< double, DIM_Z, 1 >	calculateMeasurement (const Matrix< double, DIM_X, 1 > &currentPosition)
	Calculate the measurement vector. More...

Variables
static uint32_t	lastTime = millis()
static Matrix< double, DIM_X, 1 >	x_kminus1 = (Eigen::Matrix<double, DIM_X, 1>() << 0.0, 0.0, 0.0).finished()
static Matrix< double, NUM_LANDMARKS, 3 >	landmarkPositions { Matrix<double, NUM_LANDMARKS, 3>::Zero() }

Detailed Description

Defines an Extended Kalman Filter (EKF) class for state estimation.

Implementation of the EKF class is based on the following source: https://codingcorner.org/extended-kalman-filter-in-cpp-with-eigen3/

Macro Definition Documentation

DIM_X

#define DIM_X   3

DIM_Z

#define DIM_Z   NUM_LANDMARKS