Detailed Description
Wheel observer parameters.
Definition at line 209 of file Egomotion2.h.
Data Fields | |
| dwVehicleWheelEncoderProperties | wheelEncoder |
| Wheel encoder parameters. More... | |
| size_t | stateHistorySize |
| Internal state history size, in number of elements. More... | |
| dwTime_t | stepSize |
| Wheel Observer prediction step size. More... | |
| bool | fixedStep |
| Whether wheel observer operates in fixed step or variable step operation during measurement updates. More... | |
| float32_t | processCovariance [3] |
| Process covariance parameters (continuous time, coefficients on diagonal). More... | |
| float32_t | positionVarianceLow |
| Position (tick) count variance when tick increment below positionFuzzyLow. More... | |
| float32_t | positionVarianceHigh |
| Position (tick) count variance when tick increment between positionFuzzyLow and positionFuzzyHigh. More... | |
| float32_t | speedVarianceLow |
| Speed variance when speed below speedFuzzyLow. More... | |
| float32_t | speedVarianceHigh |
| Speed variance when speed above speedFuzzyHigh. More... | |
| uint32_t | positionFuzzyLow |
| Lower end of high trust in wheel position (tick) counters, inclusive (variance adaptation). More... | |
| uint32_t | positionFuzzyHigh |
| Upper end of high trust in wheel position (tick) counters, inclusive (variance adaptation). More... | |
| float32_t | speedFuzzyLow |
| Region below which wheel speeds have low trust (variance adaptation). More... | |
| float32_t | speedFuzzyHigh |
| Region above which wheel speeds have high trust (variance adaptation). More... | |
| float32_t | speedMax |
| Maximum wheel speed, to which the state will be constrained (treated as error if error handling is active). More... | |
| float32_t | accelerationMax |
| Maximum wheel acceleration, to which the state will be constrained (treated as error if error handling is active). More... | |
| float32_t | accelerationMin |
| Minimum wheel acceleration, to which the state will be constrained (treated as error if error handling is active). More... | |
Field Documentation
◆ accelerationMax
| float32_t dwEgomotionWheelObserverParameters::accelerationMax |
Maximum wheel acceleration, to which the state will be constrained (treated as error if error handling is active).
Must be positive. [rad/s^2]
Definition at line 269 of file Egomotion2.h.
◆ accelerationMin
| float32_t dwEgomotionWheelObserverParameters::accelerationMin |
Minimum wheel acceleration, to which the state will be constrained (treated as error if error handling is active).
Must be negative. [rad/s^2]
Definition at line 273 of file Egomotion2.h.
◆ fixedStep
| bool dwEgomotionWheelObserverParameters::fixedStep |
Whether wheel observer operates in fixed step or variable step operation during measurement updates.
In fixed step operation, states are generated in a fixed cadence given by
- Parameters
-
stepSize and measurements are fused into the nearest (in-time) state. If variable step operation, states are generated in a variable cadence to align with measurement timestamps. Prediction-only steps (without measurements) use stepSize. [-]
Definition at line 229 of file Egomotion2.h.
◆ positionFuzzyHigh
| uint32_t dwEgomotionWheelObserverParameters::positionFuzzyHigh |
Upper end of high trust in wheel position (tick) counters, inclusive (variance adaptation).
[ticks] increment (in ticks) between successive measurements.
Definition at line 255 of file Egomotion2.h.
◆ positionFuzzyLow
| uint32_t dwEgomotionWheelObserverParameters::positionFuzzyLow |
Lower end of high trust in wheel position (tick) counters, inclusive (variance adaptation).
[ticks] increment (in ticks) between successive measurements.
Definition at line 252 of file Egomotion2.h.
◆ positionVarianceHigh
| float32_t dwEgomotionWheelObserverParameters::positionVarianceHigh |
Position (tick) count variance when tick increment between positionFuzzyLow and positionFuzzyHigh.
Indicates region of high trust in wheel position (tick) counters. [rad^2]
Definition at line 241 of file Egomotion2.h.
◆ positionVarianceLow
| float32_t dwEgomotionWheelObserverParameters::positionVarianceLow |
Position (tick) count variance when tick increment below positionFuzzyLow.
Indicates region of low trust in wheel position (tick) counters. [rad^2]
Definition at line 237 of file Egomotion2.h.
◆ processCovariance
| float32_t dwEgomotionWheelObserverParameters::processCovariance[3] |
Process covariance parameters (continuous time, coefficients on diagonal).
Elements correspond to [position, speed, acceleration] estimates. [rad^2, rad^2/s^2, rad^2/s^4]
Definition at line 233 of file Egomotion2.h.
◆ speedFuzzyHigh
| float32_t dwEgomotionWheelObserverParameters::speedFuzzyHigh |
Region above which wheel speeds have high trust (variance adaptation).
[rad/s]
Definition at line 261 of file Egomotion2.h.
◆ speedFuzzyLow
| float32_t dwEgomotionWheelObserverParameters::speedFuzzyLow |
Region below which wheel speeds have low trust (variance adaptation).
[rad/s]
Definition at line 258 of file Egomotion2.h.
◆ speedMax
| float32_t dwEgomotionWheelObserverParameters::speedMax |
Maximum wheel speed, to which the state will be constrained (treated as error if error handling is active).
Must be positive. [rad/s]
Definition at line 265 of file Egomotion2.h.
◆ speedVarianceHigh
| float32_t dwEgomotionWheelObserverParameters::speedVarianceHigh |
Speed variance when speed above speedFuzzyHigh.
Indicates region of high trust in wheel speed. [rad^2/s^2]
Definition at line 249 of file Egomotion2.h.
◆ speedVarianceLow
| float32_t dwEgomotionWheelObserverParameters::speedVarianceLow |
Speed variance when speed below speedFuzzyLow.
Indicates region of low trust in wheel speed. [rad^2/s^2]
Definition at line 245 of file Egomotion2.h.
◆ stateHistorySize
| size_t dwEgomotionWheelObserverParameters::stateHistorySize |
Internal state history size, in number of elements.
Recommended to leave 0 for automatic size given dwEgomotionMeasurementParameters settings. [-]
Definition at line 216 of file Egomotion2.h.
◆ stepSize
| dwTime_t dwEgomotionWheelObserverParameters::stepSize |
Wheel Observer prediction step size.
When predicting, steps the filter by this increment.
- Note
- see fixedStep [us]
Definition at line 221 of file Egomotion2.h.
◆ wheelEncoder
| dwVehicleWheelEncoderProperties dwEgomotionWheelObserverParameters::wheelEncoder |
Wheel encoder parameters.
Definition at line 212 of file Egomotion2.h.
The documentation for this struct was generated from the following file: