 |
Master Thesis Code
by Simon Moser
|
MyVqf is an interface to the VQF python package. More...
Public Member Functions | |
| function | MyVqf () |
| Constructor of the MyVqf class. | |
| function | delete (in obj) |
| Destructor of the MyVqf class. | |
| function | filter (in obj, in acc, in gyr, in mag) |
| Filter the data using the VQF algorithm (only forward). | |
| function | filterOffline (in obj, in acc, in gyr, in mag) |
| Filter the data using the VQF algorithm (offline, forward and backward). | |
| function | setProperties (in obj, in params) |
| method to set properties of the VQF filter | |
| function | getProperties (in obj) |
Public Attributes | |
| Property | pe |
| python environment | |
| Property | vqf |
| VQF python package. | |
| Property | vqfForward |
| VQF object with forward filter configuration. | |
| Property | np |
| numpy package | |
Sampling times | |
sampling times for the sensors in [s] | |
| Property | gyrTs |
| Property | accTs |
| Property | magTs |
VQF parameters | |
default values according to the VQF documentation | |
| Property | tauAcc |
| Property | tauMag |
| Property | motionBiasEstEnabled |
| Property | restBiasEstEnabled |
| Property | magDistRejectionEnabled |
| Property | biasSigmaInit |
| Property | biasForgettingTime |
| Property | biasClip |
| Property | biasSigmaMotion |
| Property | biasVerticalForgettingFactor |
| Property | biasSigmaRest |
| Property | restMinT |
| Property | restFilterTau |
| Property | restThGyr |
| Property | restThAcc |
| Property | magCurrentTau |
| Property | magRefTau |
| Property | magNormTh |
| Property | magDipTh |
| Property | magNewTime |
| Property | magNewFirstTime |
| Property | magNewMinGyr |
| Property | magMinUndisturbedTime |
| Property | magMaxRejectionTime |
| Property | magRejectionFactor |
Protected Member Functions | |
| function | createVQF (in obj) |
| Create and configure VQF forward filter. | |
| function | offlineVQF (in obj, in acc, in gyr, in mag) |
| Call the offline VQF algorithm. | |
MyVqf is an interface to the VQF python package.
This class is an interface to the VQF python package. It is used to create a VQF object that can be used to perform VQF operations. The VQF package is a python package that provides a VQF algorithm implementation. This algorithm is used to estimate the orientation of a sensor in 3D space. The VQF algorithm is based on the work of the following paper: https://doi.org/10.1016/j.inffus.2022.10.014
| function MyVqf | ( | ) |
|
protected |
| function delete | ( | in | obj | ) |
| function filter | ( | in | obj, |
| in | acc, | ||
| in | gyr, | ||
| in | mag ) |
Filter the data using the VQF algorithm (only forward).
| obj | - Instance of the MyVqf class. |
| acc | - Accelerometer data [Nx3] (m/s^2). |
| gyr | - Gyroscope data [Nx3] (rad/s). |
| mag | - Magnetometer data [Nx3] (uT). |
| data | - Struct with the filtered data. |
| function filterOffline | ( | in | obj, |
| in | acc, | ||
| in | gyr, | ||
| in | mag ) |
Filter the data using the VQF algorithm (offline, forward and backward).
| obj | - Instance of the MyVqf class. |
| acc | - Accelerometer data [Nx3] (m/s^2). |
| gyr | - Gyroscope data [Nx3] (rad/s). |
| mag | - Magnetometer data [Nx3] (uT). |
| data | - Struct with the filtered data. |
| function getProperties | ( | in | obj | ) |
|
protected |
Call the offline VQF algorithm.
| obj | - Instance of the MyVqf class. |
| acc | - Accelerometer data [Nx3] (m/s^2). |
| gyr | - Gyroscope data [Nx3] (rad/s). |
| mag | - Magnetometer data [Nx3] (uT). |
| data | - Struct with the filtered data. |
| function setProperties | ( | in | obj, |
| in | params ) |
method to set properties of the VQF filter
| obj | - Instance of the MyVqf class. |
| params | - Struct with the properties to set.
|
| obj | - Instance of the MyVqf class. |
| Property vqfForward |