Classes | Public Member Functions | Protected Member Functions | Protected Attributes
BFL::ExtendedKalmanFilter Class Reference

#include <extendedkalmanfilter.h>

Inheritance diagram for BFL::ExtendedKalmanFilter:
Inheritance graph
[legend]

List of all members.

Classes

struct  MeasUpdateVariablesExt

Public Member Functions

void AllocateMeasModelExt (const vector< unsigned int > &meas_dimensions)
 Function to allocate memory needed during the measurement update,.
void AllocateMeasModelExt (const unsigned int &meas_dimensions)
 Function to allocate memory needed during the measurement update.
 ExtendedKalmanFilter (Gaussian *prior)
virtual ~ExtendedKalmanFilter ()
 Destructor.

Protected Member Functions

virtual void MeasUpdate (MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *const measmodel, const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &s)
 Measurement Update (overloaded)
virtual void SysUpdate (SystemModel< MatrixWrapper::ColumnVector > *const sysmodel, const MatrixWrapper::ColumnVector &u)
 System Update.

Protected Attributes

Matrix _F
ColumnVector _J
std::map< unsigned int,
MeasUpdateVariablesExt
_mapMeasUpdateVariablesExt
std::map< unsigned int,
MeasUpdateVariablesExt >
::iterator 
_mapMeasUpdateVariablesExt_it
SymmetricMatrix _Q
ColumnVector _x

Detailed Description

This is a class implementing the Kalman Filter (KF) class for Extended Kalman Filters.

The System- and MeasurementUpdate equasions are not linear, and will be approximated by local linearisations.

See also:
KalmanFilter
Note:
that if the system/measurement model that you pass to the update calls is not analytical with additive gaussian noise, you will get rubbish results

Definition at line 43 of file extendedkalmanfilter.h.


Constructor & Destructor Documentation

Constructor

Precondition:
you created the prior
Parameters:
priorpointer to the Gaussian prior density

Definition at line 32 of file extendedkalmanfilter.cpp.

Destructor.

Definition at line 40 of file extendedkalmanfilter.cpp.


Member Function Documentation

void BFL::ExtendedKalmanFilter::AllocateMeasModelExt ( const vector< unsigned int > &  meas_dimensions)

Function to allocate memory needed during the measurement update,.

Definition at line 44 of file extendedkalmanfilter.cpp.

void BFL::ExtendedKalmanFilter::AllocateMeasModelExt ( const unsigned int &  meas_dimensions)

Function to allocate memory needed during the measurement update.

Definition at line 62 of file extendedkalmanfilter.cpp.

void BFL::ExtendedKalmanFilter::MeasUpdate ( MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *const  measmodel,
const MatrixWrapper::ColumnVector &  z,
const MatrixWrapper::ColumnVector &  s 
) [protected, virtual]

Measurement Update (overloaded)

Update the filter's Posterior density using the sensor measurements, an input and the measurement model. This method is used when the measurements depend on the inputs too (doesn't happen very often, does it?) BEWARE: the first time the measurment update is called with a new size of measurement, new allocations are done

Parameters:
measmodelpointer to the measurement model the filter should use
zsensor measurement
sinput to the system (must be of the same type as u for now, since this was not yet implemented in ConditionalPdf

Implements BFL::KalmanFilter.

Definition at line 87 of file extendedkalmanfilter.cpp.

void BFL::ExtendedKalmanFilter::SysUpdate ( SystemModel< MatrixWrapper::ColumnVector > *const  sysmodel,
const MatrixWrapper::ColumnVector &  u 
) [protected, virtual]

System Update.

Update the filter's Posterior density using the deterministic inputs to the system and the system model

Parameters:
sysmodelpointer to the system model the filter should use
uinput to the system

Implements BFL::KalmanFilter.

Definition at line 75 of file extendedkalmanfilter.cpp.


Member Data Documentation

Matrix BFL::ExtendedKalmanFilter::_F [protected]

Definition at line 92 of file extendedkalmanfilter.h.

ColumnVector BFL::ExtendedKalmanFilter::_J [protected]

Definition at line 91 of file extendedkalmanfilter.h.

Definition at line 94 of file extendedkalmanfilter.h.

Definition at line 95 of file extendedkalmanfilter.h.

SymmetricMatrix BFL::ExtendedKalmanFilter::_Q [protected]

Definition at line 93 of file extendedkalmanfilter.h.

ColumnVector BFL::ExtendedKalmanFilter::_x [protected]

Definition at line 90 of file extendedkalmanfilter.h.


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


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Sun Oct 5 2014 22:29:53