QuaternionKalmanFilter Class Reference

A Kalman filter for quaternion smoothing. More...

#include <QuaternionKalmanFilter.h>

Collaboration diagram for QuaternionKalmanFilter:

Public Member Functions
	QuaternionKalmanFilter ()
	Default constructor for QuaternionKalmanFilter.
	QuaternionKalmanFilter (float gain, int memory)
	Constructs a QuaternionKalmanFilter with specified parameters.
Quaternion	Filter (Quaternion value)
	Filters a quaternion value to reduce noise.
	~QuaternionKalmanFilter ()
	Destructor for QuaternionKalmanFilter.

Private Member Functions
Quaternion *	ShiftArray (Quaternion arr[])
	Shifts the array to remove the oldest quaternion and make room for a new one.

Private Attributes
float	gain
	The filter gain, controls the weight of new data versus the estimated state.
int	memory
	The size of the internal buffer to store quaternion history.
Quaternion *	values
	Pointer to an array of quaternion values for the filter's memory.
int	currentAmount = 0
	Tracks the current number of quaternions stored in memory.

Detailed Description

A Kalman filter for quaternion smoothing.

This class applies a Kalman filter to quaternion data to reduce noise and smooth transitions between rotations.

Definition at line 24 of file QuaternionKalmanFilter.h.

Constructor & Destructor Documentation

QuaternionKalmanFilter() [1/2]

QuaternionKalmanFilter

(

)

Default constructor for QuaternionKalmanFilter.

Initializes the filter with default parameters.

Definition at line 3 of file QuaternionKalmanFilter.cpp.

References gain, memory, and values.

QuaternionKalmanFilter() [2/2]

QuaternionKalmanFilter	(	float	gain,
		int	memory
	)

Constructs a QuaternionKalmanFilter with specified parameters.

Parameters

gain	The filter gain.
memory	The size of the filter's internal memory.

Definition at line 10 of file QuaternionKalmanFilter.cpp.

References gain, memory, and values.

~QuaternionKalmanFilter()

~QuaternionKalmanFilter

(

)

Destructor for QuaternionKalmanFilter.

Releases allocated memory for quaternion storage.

Definition at line 17 of file QuaternionKalmanFilter.cpp.

References values.

Member Function Documentation

Filter()

Quaternion Filter

(

Quaternion

value

)

Filters a quaternion value to reduce noise.

Parameters

value

The new quaternion value to process.

Returns

The filtered quaternion.

Definition at line 31 of file QuaternionKalmanFilter.cpp.

References Quaternion::Add(), currentAmount, gain, memory, ShiftArray(), Quaternion::SphericalInterpolation(), Quaternion::UnitQuaternion(), and values.

ShiftArray()

Quaternion * ShiftArray ( Quaternion  arr[] )

private

Shifts the array to remove the oldest quaternion and make room for a new one.

Parameters

arr	Array of quaternions to shift.

Returns

Pointer to the shifted array.

Definition at line 21 of file QuaternionKalmanFilter.cpp.

References memory.

Referenced by Filter().

Member Data Documentation

currentAmount

int currentAmount = 0

private

Tracks the current number of quaternions stored in memory.

Definition at line 30 of file QuaternionKalmanFilter.h.

Referenced by Filter().

gain

float gain

private

The filter gain, controls the weight of new data versus the estimated state.

Definition at line 26 of file QuaternionKalmanFilter.h.

Referenced by Filter(), QuaternionKalmanFilter(), and QuaternionKalmanFilter().

memory

int memory

private

The size of the internal buffer to store quaternion history.

Definition at line 27 of file QuaternionKalmanFilter.h.

Referenced by Filter(), QuaternionKalmanFilter(), QuaternionKalmanFilter(), and ShiftArray().

values

Quaternion* values

private

Pointer to an array of quaternion values for the filter's memory.

Definition at line 28 of file QuaternionKalmanFilter.h.

Referenced by Filter(), QuaternionKalmanFilter(), QuaternionKalmanFilter(), and ~QuaternionKalmanFilter().

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The documentation for this class was generated from the following files:

• QuaternionKalmanFilter.h
• QuaternionKalmanFilter.cpp