File ekf_vicon_imu_simple.hpp¶

Implements a testing class for the Vicon and IMU based estimator. It loads a yaml configuration file and a SL data file, estimate the state from these data and compare to the vicon trajectory.

License:: BSD 3-clause

Copyright: Copyright (c) 2020, New York University and Max Planck Gesellschaft

namespace mim_estimation

namespace test¶

class EstimatorViconImuTest

#include <ekf_vicon_imu_simple.hpp>

Public Functions

inline EstimatorViconImuTest(std::string yaml_file, std::string d_file): This class tests the mim_estimation based on IMU and Vicon measurement.

inline void run(): run, simple method that execute the estimation of the base position from motion capture and IMU data saved from SL

inline void dump(std::string file_name)

inline void get_data_from_file(const int row, Eigen::Vector3d &gyroscope, Eigen::Vector3d &accelerometer, Eigen::Matrix4d &vicon_base_pose, Eigen::Quaterniond &input_vicon_base_quat, bool &vicon_is_new_frame)

get_data_from_file

Parameters:

row – row index homogenous to time/sampling_period.
gyroscope – output imu data copied from the data set
accelerometer – output imu data copied from the data set
unfiltered_joint_data – joint position copied from the data set
filtered_joint_data – filtered joint position copied from the data set
vicon_base_pose – position of the based measured form the Vicon system copied from the data set
vicon_is_new_frame – True is the Vicon data if actually a new one.

inline void subscribe_to_data_collector(): subscribe_to_data_collector, collect the address of all variables to save

inline void get_data_indexes()

get_data_indexes In order to parse the SL data file one need the indexes associated to the data.

This method computes the different names and indexes.

inline void display_one_statistics(double avg, double min, double max, std::string name)

inline void display_all_statistics()

inline void compute_all_statistics()

inline void compute_one_statistics(Eigen::Ref<Eigen::MatrixXd> mat, double &avg, double &min, double &max)

Public Members

double avg_err_base_pose

double avg_err_base_pose_x

double avg_err_base_pose_y

double avg_err_base_pose_z

double max_err_base_pose

double max_err_base_pose_x

double max_err_base_pose_y

double max_err_base_pose_z

double min_err_base_pose

double min_err_base_pose_x

double min_err_base_pose_y

double min_err_base_pose_z

double avg_err_base_quat_x

double avg_err_base_quat_y

double avg_err_base_quat_z

double max_err_base_quat_x

double max_err_base_quat_y

double max_err_base_quat_z

double min_err_base_quat_x

double min_err_base_quat_y

double min_err_base_quat_z

Private Members

YAML::Node config_¶

YAML::Node config_est_¶

double update_frequency_¶

io_tools::DataReader data_reader_¶

io_tools::NonRtDataCollector data_collector_¶

double time_¶

std::vector<int> gyroscope_ids_¶

std::vector<int> accelerometer_ids_¶

std::vector<int> vicon_base_pose_ids_¶

int vicon_is_new_frame_id_¶

Eigen::Vector3d input_gyroscope_¶

Eigen::Vector3d input_accelerometer_¶

Eigen::Matrix4d input_vicon_base_pose_¶

Eigen::Quaterniond input_vicon_base_quat_¶

bool input_vicon_is_new_frame_¶

Eigen::Vector3d output_imu_position_¶

Eigen::Quaterniond output_imu_orientation_¶

Eigen::Vector3d output_imu_linear_velocity_¶

Eigen::Vector3d output_imu_angular_velocty_¶

Eigen::Vector3d output_accel_bias_¶

Eigen::Vector3d output_gyro_bias_¶

Eigen::Vector3d output_base_position_¶

Eigen::Quaterniond output_base_orientation_¶

Eigen::Vector3d output_base_linear_velocity_¶

Eigen::Vector3d output_base_angular_velocity_¶

Eigen::MatrixXd error_base_pose_¶

Eigen::MatrixXd error_base_quat_¶

std::unique_ptr<mim_estimation::EkfViconImu> vicon_bse_¶