ekf2: move EKF out of ecl

2026-10-25 06:33:33 +08:00 · 2021-07-15 10:38:24 -04:00
parent 883624d915
commit 2cf66a5d8f
216 changed files with 1369 additions and 2399 deletions
@@ -0,0 +1,71 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Downsamples IMU data to a lower rate such that EKF predicition can happen less frequent
+ * @author Kamil Ritz <ka.ritz@hotmail.com>
+ */
+#ifndef EKF_IMU_DOWN_SAMPLER_HPP
+#define EKF_IMU_DOWN_SAMPLER_HPP
+
+#include <mathlib/mathlib.h>
+#include <matrix/math.hpp>
+
+#include "common.h"
+
+using namespace estimator;
+
+class ImuDownSampler
+{
+public:
+	explicit ImuDownSampler(float target_dt_sec);
+	~ImuDownSampler() = default;
+
+	bool update(const imuSample &imu_sample_new);
+
+	imuSample getDownSampledImuAndTriggerReset()
+	{
+		_do_reset = true;
+		return _imu_down_sampled;
+	}
+
+private:
+	void reset();
+
+	imuSample _imu_down_sampled{};
+	Quatf _delta_angle_accumulated{};
+	const float _target_dt;  // [sec]
+	float _imu_collection_time_adj{0.f};
+	bool _do_reset{true};
+};
+#endif // !EKF_IMU_DOWN_SAMPLER_HPP