Public Member Functions | Public Attributes | Protected Attributes
alvar::KalmanSensor Class Reference

Kalman sensor implementation. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensor:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 KalmanSensor (const KalmanSensor &k)
 Copy constructor.
 KalmanSensor (int n, int _m)
 Constructor.
virtual void update_H (CvMat *x_pred)
 Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).
virtual void update_K (CvMat *P_pred)
 Method for updating the Kalman gain. This is called from predict_update() of Kalman.
virtual void update_P (CvMat *P_pred, CvMat *P)
 Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman.
 ~KalmanSensor ()
 Destructor.

Public Attributes

CvMat * R
 The covariance matrix for the observation noise.

Protected Attributes

CvMat * P_tmp
CvMat * R_tmp

Detailed Description

Kalman sensor implementation.

Examples:
SampleFilter.cpp.

Definition at line 118 of file Kalman.h.


Constructor & Destructor Documentation

Copy constructor.

Definition at line 116 of file Kalman.cpp.

alvar::KalmanSensor::KalmanSensor ( int  n,
int  _m 
)

Constructor.

Parameters:
_nThe number of items in the Kalman state vector
_mThe number of measurements given by this sensor

Definition at line 122 of file Kalman.cpp.

Destructor.

Definition at line 128 of file Kalman.cpp.


Member Function Documentation

virtual void alvar::KalmanSensor::update_H ( CvMat *  x_pred) [inline, virtual]

Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).

Reimplemented in alvar::KalmanSensorEkf.

Definition at line 139 of file Kalman.h.

void alvar::KalmanSensor::update_K ( CvMat *  P_pred) [virtual]

Method for updating the Kalman gain. This is called from predict_update() of Kalman.

Definition at line 134 of file Kalman.cpp.

void alvar::KalmanSensor::update_P ( CvMat *  P_pred,
CvMat *  P 
) [virtual]

Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman.

Definition at line 145 of file Kalman.cpp.


Member Data Documentation

CvMat* alvar::KalmanSensor::P_tmp [protected]

Definition at line 121 of file Kalman.h.

The covariance matrix for the observation noise.

Definition at line 124 of file Kalman.h.

CvMat* alvar::KalmanSensor::R_tmp [protected]

Definition at line 120 of file Kalman.h.


The documentation for this class was generated from the following files:


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Sat Dec 28 2013 16:46:16