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

Extended Kalman Filter (EKF) sensor implementation. More...

#include <Kalman.h>

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

Public Member Functions

 KalmanSensorEkf (const KalmanSensorEkf &k)
 KalmanSensorEkf (int _n, int _m)
 ~KalmanSensorEkf ()

Protected Member Functions

virtual void h (CvMat *x_pred, CvMat *_z_pred)=0
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_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.

Protected Attributes

CvMat * delta
CvMat * x_minus
CvMat * x_plus
CvMat * z_tmp1
CvMat * z_tmp2

Detailed Description

Extended Kalman Filter (EKF) sensor implementation.

Please override the pure virtual h() with the desired unlinear function. By default the upate_H calculates the Jacobian numerically, if you want other approach override also the update_H()

Examples:
SampleFilter.cpp.

Definition at line 225 of file Kalman.h.


Constructor & Destructor Documentation

Definition at line 229 of file Kalman.cpp.

alvar::KalmanSensorEkf::KalmanSensorEkf ( int  _n,
int  _m 
)

Definition at line 237 of file Kalman.cpp.

Definition at line 245 of file Kalman.cpp.


Member Function Documentation

virtual void alvar::KalmanSensorEkf::h ( CvMat *  x_pred,
CvMat *  _z_pred 
) [protected, pure virtual]

Implemented in KalmanSensorOwn.

void alvar::KalmanSensorEkf::update_H ( CvMat *  x_pred) [protected, 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 from alvar::KalmanSensor.

Definition at line 200 of file Kalman.cpp.

void alvar::KalmanSensorEkf::update_x ( CvMat *  x_pred,
CvMat *  x 
) [protected, 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 from alvar::KalmanSensorCore.

Definition at line 221 of file Kalman.cpp.


Member Data Documentation

CvMat* alvar::KalmanSensorEkf::delta [protected]

Definition at line 227 of file Kalman.h.

CvMat* alvar::KalmanSensorEkf::x_minus [protected]

Definition at line 229 of file Kalman.h.

CvMat* alvar::KalmanSensorEkf::x_plus [protected]

Definition at line 228 of file Kalman.h.

CvMat* alvar::KalmanSensorEkf::z_tmp1 [protected]

Definition at line 230 of file Kalman.h.

CvMat* alvar::KalmanSensorEkf::z_tmp2 [protected]

Definition at line 231 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