Overview
This component is attitude estimation based on gyro, acceleration, and so on.
KalmanFilterEstimation Example
KalmanFilter example, in which estimated orientation are displayed on graphs.
testKalmanFilterEstimation [pose-file] [parameters] # Non ROS environment
rosrun hrpsys testKalmanFilterEstimation [pose-file] [parameters] # Non ROS environment
| implementation_id | KalmanFilter |
| category | example |
Data Ports
Input Ports
| port name | data type | unit | description |
| rate | RTC::TimedAngularVelocity3D | [rad/s] | Actual angular velocity (gyro) of attitude sensor |
| acc | RTC::TimedAcceleration3D | [m/s^2] | Actual acceleration of attitude sensor |
| accRef | RTC::TimedAcceleration3D | [m/s^2] | Reference acceleration of attitude sensor |
| rpyIn | RTC::TimedOrientation3D | [rad] | Actual orientation (RPY) of attitude sensor |
Output Ports
| port name | data type | unit | description |
| rpy | RTC::TimedOrientation3D | [rad] | Output orientation (RPY) of attitude sensor |
Service Ports
Service Providers
| port name | interface name | service type | IDL | description |
| KalmanFilterService | service0 | KalmanFilterService | OpenHRP::KalmanFilterService | KalmanFilterService |
Service Consumers
N/A
Configuration Variables
| name | type | unit | default value | description |
| debugLevel | int | | 0 | debug level |
Configuration File
N/A
