Namespace mim_estimation::test

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