#include <tracker_kalman.h>
Public Member Functions | |
| virtual void | getEstimate (BFL::StatePosVel &est) const |
| get filter posterior | |
| virtual void | getEstimate (srs_msgs::PositionMeasurement &est) const |
| virtual double | getLifetime () const |
| return the lifetime of the tracker | |
| virtual double | getQuality () const |
| return measure for tracker quality: 0=bad 1=good | |
| virtual double | getTime () const |
| return the time of the tracker | |
| virtual void | initialize (const BFL::StatePosVel &mu, const BFL::StatePosVel &sigma, const double time) |
| initialize tracker | |
| virtual bool | isInitialized () const |
| return if tracker was initialized | |
| TrackerKalman (const std::string &name, const BFL::StatePosVel &sysnoise) | |
| constructor | |
| virtual bool | updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov) |
| virtual bool | updatePrediction (const double time) |
| update tracker | |
| virtual | ~TrackerKalman () |
| destructor | |
Private Member Functions | |
| double | calculateQuality () |
Private Attributes | |
| BFL::ExtendedKalmanFilter * | filter_ |
| double | filter_time_ |
| double | init_time_ |
| BFL::LinearAnalyticMeasurementModelGaussianUncertainty * | meas_model_ |
| BFL::LinearAnalyticConditionalGaussian * | meas_pdf_ |
| BFL::Gaussian | prior_ |
| double | quality_ |
| MatrixWrapper::Matrix | sys_matrix_ |
| BFL::LinearAnalyticSystemModelGaussianUncertainty * | sys_model_ |
| BFL::LinearAnalyticConditionalGaussian * | sys_pdf_ |
| MatrixWrapper::SymmetricMatrix | sys_sigma_ |
| bool | tracker_initialized_ |
Detailed Description
Definition at line 61 of file tracker_kalman.h.
Constructor & Destructor Documentation
| estimation::TrackerKalman::TrackerKalman | ( | const std::string & | name, |
| const BFL::StatePosVel & | sysnoise | ||
| ) |
constructor
Definition at line 53 of file tracker_kalman.cpp.
| estimation::TrackerKalman::~TrackerKalman | ( | ) | [virtual] |
destructor
Definition at line 97 of file tracker_kalman.cpp.
Member Function Documentation
| double estimation::TrackerKalman::calculateQuality | ( | ) | [private] |
Definition at line 202 of file tracker_kalman.cpp.
| void estimation::TrackerKalman::getEstimate | ( | BFL::StatePosVel & | est | ) | const [virtual] |
get filter posterior
Implements estimation::Tracker.
Definition at line 177 of file tracker_kalman.cpp.
| void estimation::TrackerKalman::getEstimate | ( | srs_msgs::PositionMeasurement & | est | ) | const [virtual] |
Implements estimation::Tracker.
Definition at line 187 of file tracker_kalman.cpp.
| double estimation::TrackerKalman::getLifetime | ( | ) | const [virtual] |
return the lifetime of the tracker
Implements estimation::Tracker.
Definition at line 213 of file tracker_kalman.cpp.
| virtual double estimation::TrackerKalman::getQuality | ( | ) | const [inline, virtual] |
return measure for tracker quality: 0=bad 1=good
Implements estimation::Tracker.
Definition at line 77 of file tracker_kalman.h.
| double estimation::TrackerKalman::getTime | ( | ) | const [virtual] |
return the time of the tracker
Implements estimation::Tracker.
Definition at line 221 of file tracker_kalman.cpp.
| void estimation::TrackerKalman::initialize | ( | const BFL::StatePosVel & | mu, |
| const BFL::StatePosVel & | sigma, | ||
| const double | time | ||
| ) | [virtual] |
initialize tracker
Implements estimation::Tracker.
Definition at line 108 of file tracker_kalman.cpp.
| virtual bool estimation::TrackerKalman::isInitialized | ( | ) | const [inline, virtual] |
return if tracker was initialized
Implements estimation::Tracker.
Definition at line 74 of file tracker_kalman.h.
| bool estimation::TrackerKalman::updateCorrection | ( | const tf::Vector3 & | meas, |
| const MatrixWrapper::SymmetricMatrix & | cov | ||
| ) | [virtual] |
Implements estimation::Tracker.
Definition at line 156 of file tracker_kalman.cpp.
| bool estimation::TrackerKalman::updatePrediction | ( | const double | time | ) | [virtual] |
Member Data Documentation
BFL::ExtendedKalmanFilter* estimation::TrackerKalman::filter_ [private] |
Definition at line 98 of file tracker_kalman.h.
double estimation::TrackerKalman::filter_time_ [private] |
Definition at line 110 of file tracker_kalman.h.
double estimation::TrackerKalman::init_time_ [private] |
Definition at line 110 of file tracker_kalman.h.
BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::TrackerKalman::meas_model_ [private] |
Definition at line 102 of file tracker_kalman.h.
BFL::LinearAnalyticConditionalGaussian* estimation::TrackerKalman::meas_pdf_ [private] |
Definition at line 101 of file tracker_kalman.h.
BFL::Gaussian estimation::TrackerKalman::prior_ [private] |
Definition at line 97 of file tracker_kalman.h.
double estimation::TrackerKalman::quality_ [private] |
Definition at line 110 of file tracker_kalman.h.
MatrixWrapper::Matrix estimation::TrackerKalman::sys_matrix_ [private] |
Definition at line 103 of file tracker_kalman.h.
BFL::LinearAnalyticSystemModelGaussianUncertainty* estimation::TrackerKalman::sys_model_ [private] |
Definition at line 100 of file tracker_kalman.h.
BFL::LinearAnalyticConditionalGaussian* estimation::TrackerKalman::sys_pdf_ [private] |
Definition at line 99 of file tracker_kalman.h.
MatrixWrapper::SymmetricMatrix estimation::TrackerKalman::sys_sigma_ [private] |
Definition at line 104 of file tracker_kalman.h.
Definition at line 109 of file tracker_kalman.h.
The documentation for this class was generated from the following files: