iDynTree/AttitudeQuaternionEKF.h file

Namespaces

namespace iDynTree

Classes

struct iDynTree::AttitudeQuaternionEKFParameters
set up the quaternion EKF
class iDynTree::AttitudeQuaternionEKF
Quaternion based Discrete Extended Kalman Filter fusing IMU measurements, to give estimates of orientation, angular velocity and gyroscope bias.

Variables

const unsigned int output_dimensions_with_magnetometer
dimension of $ \mathbb{R}^3 \times \mathbb{R} $ accelerometer measurements and magnetometer yaw measurement
const unsigned int output_dimensions_without_magnetometer
dimension of $ \mathbb{R}^3 $ accelerometer measurements
const unsigned int input_dimensions
dimension of $ \mathbb{R}^3 $ gyroscope measurements