Public Member Functions |
void | CompilerError (const char *str) |
void | Deadzone (float *R, float *innovation, float CPC, float eps) |
float | GetCovariance (short m, short n) |
Matrix | GetErrorMatrix () |
float | GetState (short n) |
Matrix | GetStates () |
float | GetVariance (short n) |
float | GetXchange (short n) |
Matrix | GetXchanges () |
| KF () |
int | MeasurementUpdate (Matrix &C, float R, float Y, bool rejectOutliers, float outlierError, bool mainFilterAngleUpdate) |
int | MeasurementUpdateExtended (Matrix &C, float R, float Y, float Ybar, bool rejectOutliers, float outlierError, bool mainFilterAngleUpdate, bool ignoreLongRangeUpdate, float deadzoneSize, float dist, bool ambigObject, bool changeAlpha) |
int | MeasurementUpdateExtended (Matrix &C, KFStruct s) |
void | NormaliseState (short n) |
void | Reset () |
bool | Restart () |
void | SetErrorMatrix (Matrix Pbar) |
void | SetState (short n, float x) |
void | SetStates (Matrix Xbar) |
bool | Start (short numStates, Matrix &uncert, Matrix &intStates) |
bool | TimeUpdate (Matrix &A, Matrix &B, Matrix &U, Matrix &Q, bool mainFilterUpdate) |
bool | TimeUpdateExtended (Matrix &A, Matrix &Xbar, Matrix &Q) |
| ~KF () |
Public Attributes |
bool | activate |
bool | active |
float | alpha |
Matrix | I |
Matrix | initP |
Matrix | initX |
short | numStates |
Matrix | P |
Matrix | X |
Matrix | Xchange |
Definition at line 36 of file KF.h.