Public Member Functions | Public Attributes | Protected Attributes | Friends
alvar::KalmanSensorCore Class Reference

Core implementation for Kalman sensor. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensorCore:
Inheritance graph
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List of all members.

Public Member Functions

int get_m ()
 Accessor for m.
int get_n ()
 Accessor for n.
 KalmanSensorCore (const KalmanSensorCore &k)
 Copy constructor.
 KalmanSensorCore (int _n, int _m)
 Constructor.
virtual void update_x (CvMat *x_pred, CvMat *x)
 Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation.
 ~KalmanSensorCore ()
 Destructor.

Public Attributes

CvMat * H
 The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector.
CvMat * K
 The matrix (n*m) containing Kalman gain (something between 0 and H^-1). In this core-implementation we assume this to be precalculated. In KalmanSensor this is updated using update_K .
CvMat * z
 Latest measurement vector (m*1)

Protected Attributes

CvMat * H_trans
int m
int n
CvMat * x_gain
CvMat * z_pred
CvMat * z_residual

Friends

class KalmanVisualize

Detailed Description

Core implementation for Kalman sensor.

Definition at line 39 of file Kalman.h.


Constructor & Destructor Documentation

Copy constructor.

Definition at line 35 of file Kalman.cpp.

Constructor.

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

Definition at line 47 of file Kalman.cpp.

Destructor.

Definition at line 59 of file Kalman.cpp.


Member Function Documentation

Accessor for m.

Definition at line 70 of file Kalman.h.

Accessor for n.

Definition at line 68 of file Kalman.h.

void alvar::KalmanSensorCore::update_x ( CvMat *  x_pred,
CvMat *  x 
) [virtual]

Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation.

Reimplemented in alvar::KalmanSensorEkf.

Definition at line 69 of file Kalman.cpp.


Friends And Related Function Documentation

friend class KalmanVisualize [friend]

Definition at line 40 of file Kalman.h.


Member Data Documentation

The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector.

Definition at line 52 of file Kalman.h.

Definition at line 44 of file Kalman.h.

The matrix (n*m) containing Kalman gain (something between 0 and H^-1). In this core-implementation we assume this to be precalculated. In KalmanSensor this is updated using update_K .

Definition at line 56 of file Kalman.h.

int alvar::KalmanSensorCore::m [protected]

Definition at line 43 of file Kalman.h.

int alvar::KalmanSensorCore::n [protected]

Definition at line 42 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::x_gain [protected]

Definition at line 47 of file Kalman.h.

Latest measurement vector (m*1)

Definition at line 50 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::z_pred [protected]

Definition at line 45 of file Kalman.h.

Definition at line 46 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