NBahrsFilterApi Namespace Reference

Classes
struct	SBahrsState
	BAHRS state vector struct. More...
struct	SBahrsStateStd
	A struct to store standard deviations of the BAHRS state vector. More...
struct	SOutputData
	Filter output struct. More...

Typedefs
using	EFilterModes = CClosedLoopErrorStateKfApi::EFilterModes

Functions
void	BahrsFilterSetInput (const NFusionLibCommon::SImuMeasurement &korImuData, uint32_t uFilterIndex)
	Pass input to the filter. The function may need to be called within a critical section.
void	BahrsFilterSetInput (const NFusionLibCommon::SBarometerData &korPressureData, uint32_t uFilterIndex)
	Pass input to the filter. The function may need to be called within a critical section.
void	BahrsFilterPrepareInputs (uint32_t uFilterIndex)
	Process inputs or make a snaphot of buffers before Step() The function may need to be called within a critical section.
void	BahrsFilterStep (uint64_t uTimeUs, uint32_t uFilterIndex)
	Do estimation.
void	BahrsFilterCompleteEpoch (uint32_t uFilterIndex)
	Clean-up at the end of an epoch. The function may need to be called within a critical section.
SOutputData	BahrsFilterGetOutput (uint32_t uFilterIndex)
	Retrieve output information.
uint32_t	GetBahrsFilterCount ()
	Get number of available filter instances.

Typedef Documentation

EFilterModes

using NBahrsFilterApi::EFilterModes = typedef CClosedLoopErrorStateKfApi::EFilterModes

Function Documentation

BahrsFilterCompleteEpoch()

void NBahrsFilterApi::BahrsFilterCompleteEpoch

(

uint32_t

uFilterIndex

)

Clean-up at the end of an epoch. The function may need to be called within a critical section.

Parameters

uFilterIndex

Filter instance to call.

BahrsFilterGetOutput()

SOutputData NBahrsFilterApi::BahrsFilterGetOutput

(

uint32_t

uFilterIndex

)

Retrieve output information.

Parameters

uFilterIndex

Filter instance to call.

Returns

Filter output data.

BahrsFilterPrepareInputs()

void NBahrsFilterApi::BahrsFilterPrepareInputs

(

uint32_t

uFilterIndex

)

Process inputs or make a snaphot of buffers before Step() The function may need to be called within a critical section.

Parameters

uFilterIndex

Filter instance to call.

BahrsFilterSetInput() [1/2]

void NBahrsFilterApi::BahrsFilterSetInput	(	const NFusionLibCommon::SBarometerData &	korPressureData,
		uint32_t	uFilterIndex
	)

Pass input to the filter. The function may need to be called within a critical section.

Parameters

korPressureData	Reference to pressure data struct.
uFilterIndex	Filter instance to call.

BahrsFilterSetInput() [2/2]

void NBahrsFilterApi::BahrsFilterSetInput	(	const NFusionLibCommon::SImuMeasurement &	korImuData,
		uint32_t	uFilterIndex
	)

Pass input to the filter. The function may need to be called within a critical section.

Parameters

korImuData	Reference to IMU data struct.
uFilterIndex	Filter instance to call.

BahrsFilterStep()

void NBahrsFilterApi::BahrsFilterStep	(	uint64_t	uTimeUs,
		uint32_t	uFilterIndex
	)

Do estimation.

Parameters

uTimeUs	Time of the call.
uFilterIndex	Filter instance to call.

GetBahrsFilterCount()

uint32_t NBahrsFilterApi::GetBahrsFilterCount

(

)

Get number of available filter instances.

Returns

Number of filter instances.