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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8"><title>ExtendedKalman: Bug List</title><link href="doxygen.css" rel="stylesheet" type="text/css"><link href="tabs.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.5.6 --><div class="navigation" id="top"> <div class="tabs"> <ul> <li><a href="main.html"><span>Main Page</span></a></li> <li><a href="pages.html"><span>Related Pages</span></a></li> <li><a href="annotated.html"><span>Classes</span></a></li> <li><a href="files.html"><span>Files</span></a></li> </ul> </div></div><div class="contents"><h1><a class="anchor" name="bug">Bug List </a></h1><a class="anchor" name="_bug000001"></a> <dl><dt>File <a class="el" href="_m_a_g___extended_kalman_8h.html">MAG_ExtendedKalman.h</a> </dt><dd>4/15/08 - CJK: Modified quaternion to Euler conversions to a single standard quat2Euler (see <a class="el" href="classmems_1_1_m_a_g___extended_kalman.html#360d4a7b1d98ac339fdd4dd2d4b4a15e">mems::MAG_ExtendedKalman::quat2Euler</a>) function that corresponds to that given by Kuipers ("Quaternions and Rotation Sequences, a Primer with Applications to Orbits, Aerospace, and Virtual Reality", Princeton University Press, Princeton, 2002).<p></dd></dl><p><a class="anchor" name="_bug000001"></a> <dl><dt>File <a class="el" href="_m_a_g___extended_kalman_8h.html">MAG_ExtendedKalman.h</a> </dt><dd>9/13/06 - CJK: Mantis 31<br> Reported originally by two separate customers, verified by CJK. When calling quat2Euler the Euler angles are not correct. One customer identified this by orienting a nIMU such that the -Z axis was pointing magnetic north (+Z into chest), the -X (cable end) pointing down to earth. When simply bending forward 90 deg at the waist, then back up, the resulting Euler angles were incorrect. This failure was duplicated by MEMSense with a 1200 deg/s 5G nIMU. Bug was related to incompatible coordinate systems between literature and MEMSense (primarily right- hand rotation and z-axis orientation; literature z-axis is 'up', MEMSense z-axis is 'down', into earth). As a result, complete derivation of rotation matrices and equations from first priciples was performed, with singularities at +/- PI/2 identified. Both 'earth-global' (see mems::MAG_ExtendedKalman::quat2EulerGlobal) <br><br><b>4/15/08 - CJK NOTE: function quat2EulerGlobal no longer available - replaced by <a class="el" href="classmems_1_1_m_a_g___extended_kalman.html#360d4a7b1d98ac339fdd4dd2d4b4a15e">mems::MAG_ExtendedKalman::quat2Euler</a></b><br><br> and 'device-local' (see mems::MAG_ExtendedKalman::quat2EulerLocal) <br><br><b>4/15/08 - CJK NOTE: function quat2EulerLocal no longer available - replaced by <a class="el" href="classmems_1_1_m_a_g___extended_kalman.html#360d4a7b1d98ac339fdd4dd2d4b4a15e">mems::MAG_ExtendedKalman::quat2Euler</a></b><br><br> Euler angles are now available. As a result of offering both 'local' and 'global' euler angles, it is no longer appropriate to differentiate between processSampleQuat and processSampleEuler - thus the processing of sample data was reduced to two function calls via processSample (overloaded with two different argument lists), which return a quaternion from which the user may then decide the appropriate Euler conversion.<br><p></dd></dl><p><a class="anchor" name="_bug000001"></a> <dl><dt>File <a class="el" href="_m_a_g___extended_kalman_8h.html">MAG_ExtendedKalman.h</a> </dt><dd>6/14/06 - CJK: An error in the matrix invert() method which, in very rare cases, would produce out-of-bounds floating point values. This would, in turn, produce incorrect quaternion values and, as a result, corrupt the output. Fixed.<p></dd></dl><p><a class="anchor" name="_bug000001"></a> <dl><dt>File <a class="el" href="_m_a_g___extended_kalman_8h.html">MAG_ExtendedKalman.h</a> </dt><dd>6/15/06 - CJK: If a resolution of zero (0) was passed in to the processSample method of the Kalman, an exception would be thrown. This has been replaced with an internal check to verify the resolution is > 0. If resolution == 0 then the filter ignores the input and returns the values calculated from the last valid sample.<p></dd></dl></div><hr size="1"><address style="text-align: right;"><small>Generated on Mon Mar 2 16:28:23 2009 for ExtendedKalman by <a href="http://www.doxygen.org/index.html"><img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address></body></html>⌨️ 快捷键说明
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