chassis
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Localization/EKF/LocEKF.hpp:25ChassisLocalization::EKF API
- 符号
- 67
- 已记录
- 33
- 修订版本
0.1.0+825f1408280d
34 / 67 个公开 API 符号没有说明。
命名空间
4类
2chassis::loc::LocEKF
可配置历史缓冲容量的 ESKF 定位系统实现类。 继承 IChassisLoc 接口，与底盘系统统一对接 封装 ESKF 算法，提供轮速 + 陀螺仪 + 外部位姿观测的融合能力 自动同步 ESKF 状态到 IChassisLoc 的 posture 和 velocity 历史状态缓冲容量可在工程接入时按回放需求和 RAM 预算做权衡 特性： update() updateLidar() 本类默认和使用的是同一时间基准 如果外部观测来自另一套时钟，必须先由接入工程完成对时或时间映射 本驱动库不负责上下位机对时 时间基准边界： StateBufferCapacity 保存多少个历史状态点，用于晚到观测回放 InputBufferCapacity 保存多少个尚未推进进 EKF 的输入样本，默认 4
Localization/EKF/LocEKF.hpp:46chassis::loc::LocEKF::PositionEKF
内部位置 EKF。 [x, y, yaw, yaw_offset] 状态向量是， 其中 yaw_offset 用来吸收陀螺仪与外部绝对观测之间可能存在的偏差。
Localization/EKF/LocEKF.hpp:61结构体
3chassis::loc::LocEKF::Input
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Localization/EKF/LocEKF.hpp:227chassis::loc::LocEKF::PositionEKF::Config
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Localization/EKF/LocEKF.hpp:72chassis::loc::LocEKF::StatePoint
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Localization/EKF/LocEKF.hpp:235函数
22chassis::loc::LocEKF::LocEKF
chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::LocEKF (motion::IChassisMotion &motion, const Config &cfg, sensors::gyro::HWT101CT &gyro, const uint32_t delta_ticks=1)
motion 作为里程计输入来源的 Motion cfg 滤波配置 gyro 提供 yaw / wz 观测的陀螺仪 delta_ticks update() 两次调用之间预计相隔多少个 HAL tick 若初始状态依赖首次外部观测，推荐先让 Motion 独立运行，待拿到第一帧雷达位姿和 第一帧陀螺仪数据，并准备好 cfg.x_init 等初始条件后，再构造本对象。
Localization/EKF/LocEKF.hpp:408chassis::loc::LocEKF::PositionEKF::PositionEKF
chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::PositionEKF (const Config &cfg)
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Localization/EKF/LocEKF.hpp:136chassis::loc::LocEKF::PositionEKF::covariance
auto chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::covariance () const
返回当前状态协方差。
Localization/EKF/LocEKF.hpp:145chassis::loc::LocEKF::PositionEKF::gyroUpdate
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::gyroUpdate (const float &yaw)
用陀螺仪 yaw 做一次量测更新。
Localization/EKF/LocEKF.hpp:180chassis::loc::LocEKF::PositionEKF::lidarUpdate
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::lidarUpdate (const Posture &pos)
用外部绝对位姿做一次量测更新。
Localization/EKF/LocEKF.hpp:188chassis::loc::LocEKF::PositionEKF::odomUpdate
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::odomUpdate (const Velocity &vel, const float dt)
只用轮速里程计推进一次预测。
Localization/EKF/LocEKF.hpp:155chassis::loc::LocEKF::PositionEKF::reset
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::reset (const VecS &state, const MatS &covariance)
用指定状态和协方差直接覆盖滤波器，供回溯重放使用。
Localization/EKF/LocEKF.hpp:148chassis::loc::LocEKF::PositionEKF::state
auto chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::state () const
返回当前 EKF 状态向量。
Localization/EKF/LocEKF.hpp:143chassis::loc::LocEKF::dt
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::dt () const
约定 HAL tick 为 1ms，因此这里直接换算成秒。
Localization/EKF/LocEKF.hpp:252chassis::loc::LocEKF::isGyroEnabled
bool chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::isGyroEnabled () const
上游未提供说明。
Localization/EKF/LocEKF.hpp:396chassis::loc::LocEKF::isLidarEnabled
bool chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::isLidarEnabled () const
上游未提供说明。
Localization/EKF/LocEKF.hpp:397chassis::loc::LocEKF::next_idx
uint32_t chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::next_idx () const
只有两个缓冲区，因此这里直接在 0 / 1 之间切换。
Localization/EKF/LocEKF.hpp:447chassis::loc::LocEKF::postureInWorld
Posture chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::postureInWorld () const override
双缓冲读取，避免读到 update 中间态。
Localization/EKF/LocEKF.hpp:427chassis::loc::LocEKF::setGyroEnabled
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::setGyroEnabled (const bool enabled)
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Localization/EKF/LocEKF.hpp:394chassis::loc::LocEKF::setLidarEnabled
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::setLidarEnabled (const bool enabled)
上游未提供说明。
Localization/EKF/LocEKF.hpp:395chassis::loc::LocEKF::update
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::update ()
按固定 dt 采样底盘速度和陀螺仪，并推进一次滤波状态。 dt 由构造参数 delta_ticks 决定，默认假设 tick 时间基准为 1ms。
Localization/EKF/LocEKF.hpp:318chassis::loc::LocEKF::updateEKF
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::updateEKF ()
消费输入缓冲并推进 EKF，然后同步对外可读状态。
Localization/EKF/LocEKF.hpp:266chassis::loc::LocEKF::updateInput
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::updateInput ()
把当前轮速和陀螺仪采样压入输入缓冲。
Localization/EKF/LocEKF.hpp:255chassis::loc::LocEKF::updateLidar
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::updateLidar (const Posture &pos, const uint32_t ticks)
注入一帧外部位姿观测。 pos 外部观测的世界系位姿，单位语义与 Posture 一致 ticks update() 该观测对应的时间戳，必须与内部采样使用的时间基准一致； 若观测来自另一套时钟，需先由接入工程换算到统一时基后再传入 StateBufferCapacity 如果观测晚到但仍在历史缓冲区范围内，当前实现会回溯状态并重放后续输入。 可回放窗口长度由模板参数决定。
Localization/EKF/LocEKF.hpp:339chassis::loc::LocEKF::updateLoc
void chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::updateLoc ()
根据当前 EKF 状态刷新对外暴露的 posture / velocity 缓冲。
Localization/EKF/LocEKF.hpp:287chassis::loc::LocEKF::velocityInBody
Velocity chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::velocityInBody () const override
双缓冲读取，避免读到 update 中间态。
Localization/EKF/LocEKF.hpp:417chassis::loc::LocEKF::velocityInWorld
Velocity chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::velocityInWorld () const override
双缓冲读取，避免读到 update 中间态。
Localization/EKF/LocEKF.hpp:422类型定义
1chassis::loc::LocEKF::Config
using chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::Config = typename PositionEKF::Config
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Localization/EKF/LocEKF.hpp:311变量
33chassis::loc::LocEKF::Input::ticks
uint32_t chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::Input::ticks
输入对应的时间戳；默认来自本地 tick，若外部观测参与回放，工程侧需先把时间基准对齐
Localization/EKF/LocEKF.hpp:229chassis::loc::LocEKF::Input::vel
Velocity chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::Input::vel
该时刻的里程计预测输入
Localization/EKF/LocEKF.hpp:231chassis::loc::LocEKF::Input::yaw_gyro
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::Input::yaw_gyro
该时刻的陀螺仪 yaw 观测
Localization/EKF/LocEKF.hpp:232chassis::loc::LocEKF::PositionEKF::Config::covP
struct chassis::loc::LocEKF::PositionEKF::Config::@007103227310027305026102154020312164355357035052 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::covP
上游未提供说明。
Localization/EKF/LocEKF.hpp:97chassis::loc::LocEKF::PositionEKF::Config::gyro
struct chassis::loc::LocEKF::PositionEKF::Config::@101333314345004074132312303221246003261163207252::@175340041104356104356371041244266301212256374154 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::gyro
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Localization/EKF/LocEKF.hpp:122chassis::loc::LocEKF::PositionEKF::Config::lidar
struct chassis::loc::LocEKF::PositionEKF::Config::@101333314345004074132312303221246003261163207252::@014206313035024112145210232025306065301174046155 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::lidar
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Localization/EKF/LocEKF.hpp:132chassis::loc::LocEKF::PositionEKF::Config::noiseQ
struct chassis::loc::LocEKF::PositionEKF::Config::@324300371120222061137354153047074105277163021363 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::noiseQ
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Localization/EKF/LocEKF.hpp:110chassis::loc::LocEKF::PositionEKF::Config::noiseR
struct chassis::loc::LocEKF::PositionEKF::Config::@101333314345004074132312303221246003261163207252 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::noiseR
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Localization/EKF/LocEKF.hpp:133chassis::loc::LocEKF::PositionEKF::Config::x
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::x
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Localization/EKF/LocEKF.hpp:79chassis::loc::LocEKF::PositionEKF::Config::x_init
struct chassis::loc::LocEKF::PositionEKF::Config::@076150034055000002104272336301152127011334367235 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::x_init
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Localization/EKF/LocEKF.hpp:84chassis::loc::LocEKF::PositionEKF::Config::xy
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::xy
外部位姿观测中的平移噪声
Localization/EKF/LocEKF.hpp:89chassis::loc::LocEKF::PositionEKF::Config::y
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::y
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Localization/EKF/LocEKF.hpp:79chassis::loc::LocEKF::PositionEKF::Config::yaw
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::yaw
陀螺仪 yaw 观测噪声 外部位姿观测中的航向噪声
Localization/EKF/LocEKF.hpp:80chassis::loc::LocEKF::PositionEKF::Config::yaw_offset
float chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::Config::yaw_offset
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Localization/EKF/LocEKF.hpp:81chassis::loc::LocEKF::PositionEKF::R_gyro_
math::Mat<float, 1, 1> chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::R_gyro_
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Localization/EKF/LocEKF.hpp:218chassis::loc::LocEKF::PositionEKF::R_lidar_
math::Mat<float, 3, 3> chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::PositionEKF::R_lidar_
上游未提供说明。
Localization/EKF/LocEKF.hpp:219chassis::loc::LocEKF::StatePoint::P
PositionEKF::MatS chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::StatePoint::P
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Localization/EKF/LocEKF.hpp:239chassis::loc::LocEKF::StatePoint::input
Input chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::StatePoint::input
推导出该状态时所使用的输入样本
Localization/EKF/LocEKF.hpp:241chassis::loc::LocEKF::StatePoint::x
PositionEKF::VecS chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::StatePoint::x
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Localization/EKF/LocEKF.hpp:238chassis::loc::LocEKF::dticks_
uint32_t chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::dticks_
相邻 update 之间的 tick 间隔
Localization/EKF/LocEKF.hpp:247chassis::loc::LocEKF::gyro_
sensors::gyro::HWT101CT& chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::gyro_
提供 yaw / wz 观测的陀螺仪
Localization/EKF/LocEKF.hpp:52chassis::loc::LocEKF::gyro_enabled_
bool chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::gyro_enabled_
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Localization/EKF/LocEKF.hpp:223chassis::loc::LocEKF::idx_
std::atomic<size_t> chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::idx_
当前对外可见缓冲区下标
Localization/EKF/LocEKF.hpp:444chassis::loc::LocEKF::in_body
Velocity chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::in_body
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Localization/EKF/LocEKF.hpp:440chassis::loc::LocEKF::in_world
Posture chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::in_world
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Localization/EKF/LocEKF.hpp:435chassis::loc::LocEKF::in_world
Velocity chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::in_world
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Localization/EKF/LocEKF.hpp:441chassis::loc::LocEKF::input_buffer_
Deque<Input, InputBufferCapacity> chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::input_buffer_
尚未推进进 EKF 的输入样本队列
Localization/EKF/LocEKF.hpp:245chassis::loc::LocEKF::lidar_enabled_
bool chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::lidar_enabled_
上游未提供说明。
Localization/EKF/LocEKF.hpp:224chassis::loc::LocEKF::lock_
AtomicFlagLock chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::lock_
雷达回放时用于阻止并发 updateEKF()
Localization/EKF/LocEKF.hpp:249chassis::loc::LocEKF::pos_ekf_
PositionEKF chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::pos_ekf_
真正执行滤波计算的内部对象
Localization/EKF/LocEKF.hpp:221chassis::loc::LocEKF::posture_
struct chassis::loc::LocEKF::@145332172176301216031344167226201262207172340035 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::posture_[2] [2]
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Localization/EKF/LocEKF.hpp:436chassis::loc::LocEKF::state_buffer_
Deque<StatePoint, StateBufferCapacity> chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::state_buffer_
历史状态，用于处理晚到观测回放
Localization/EKF/LocEKF.hpp:244chassis::loc::LocEKF::velocity_
struct chassis::loc::LocEKF::@173032060166225015142253032031131170225127244036 chassis::loc::LocEKF< StateBufferCapacity, InputBufferCapacity >::velocity_[2] [2]
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Localization/EKF/LocEKF.hpp:442宏定义
1DEG2RAD
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Localization/EKF/LocEKF.hpp:22文件
1Localization/EKF/LocEKF.hpp
基于扩展卡尔曼滤波的底盘定位后端。 syhanjin 2026-03-11 使用 fastlio2(10Hz) + encoder(1kHz) + HWT101CT(yaw, 1kHz) 融合定位
Localization/EKF/LocEKF.hpp