Public Types | Public Member Functions | Protected Attributes
labust::navigation::KFBase< Model > Class Template Reference

#include <KFBase.hpp>

Inheritance diagram for labust::navigation::KFBase< Model >:
Inheritance graph
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List of all members.

Public Types

typedef const Model::input_type & inputref
typedef const Model::matrixmatrixref
typedef const Model::output_type & outputref
typedef const Model::vectorvectorref

Public Member Functions

matrixref getInovationCovariance ()
vectorref getState ()
matrixref getStateCovariance ()
 KFBase ()
void setMeasurementParameters (const typename Model::matrix &V, const typename Model::matrix &R)
void setOutlierR (double outlierR)
void setState (vectorref x)
void setStateCovariance (matrixref P)
void setStateParameters (const typename Model::matrix &W, const typename Model::matrix &Q)
void setTs (double Ts)
double traceP ()

Protected Attributes

Model::vector innovation
Model::matrix innovationCov
Model::matrix K
double outlierR
Model::matrix P

Detailed Description

template<class Model>
class labust::navigation::KFBase< Model >

The base class for the Kalman filter.

Definition at line 46 of file KFBase.hpp.


Member Typedef Documentation

template<class Model>
typedef const Model::input_type& labust::navigation::KFBase< Model >::inputref

Definition at line 52 of file KFBase.hpp.

template<class Model>
typedef const Model::matrix& labust::navigation::KFBase< Model >::matrixref

Definition at line 49 of file KFBase.hpp.

template<class Model>
typedef const Model::output_type& labust::navigation::KFBase< Model >::outputref

Definition at line 53 of file KFBase.hpp.

template<class Model>
typedef const Model::vector& labust::navigation::KFBase< Model >::vectorref

Definition at line 50 of file KFBase.hpp.


Constructor & Destructor Documentation

template<class Model>
labust::navigation::KFBase< Model >::KFBase ( ) [inline]

Generic constructor.

Definition at line 58 of file KFBase.hpp.


Member Function Documentation

template<class Model>
matrixref labust::navigation::KFBase< Model >::getInovationCovariance ( ) [inline]

Get the state covariance matrix value.

Returns:
State covariance matrix.

Definition at line 78 of file KFBase.hpp.

template<class Model>
vectorref labust::navigation::KFBase< Model >::getState ( ) [inline]

Set the state value.

Returns:
The estimated state value.

Definition at line 113 of file KFBase.hpp.

template<class Model>
matrixref labust::navigation::KFBase< Model >::getStateCovariance ( ) [inline]

Get the state covariance matrix value.

Returns:
State covariance matrix.

Definition at line 72 of file KFBase.hpp.

template<class Model>
void labust::navigation::KFBase< Model >::setMeasurementParameters ( const typename Model::matrix V,
const typename Model::matrix R 
) [inline]

Set the measurement matrices.

Definition at line 88 of file KFBase.hpp.

template<class Model>
void labust::navigation::KFBase< Model >::setOutlierR ( double  outlierR) [inline]

Set the outlier coefficient.

Definition at line 104 of file KFBase.hpp.

template<class Model>
void labust::navigation::KFBase< Model >::setState ( vectorref  x) [inline]

Set the estimated state value.

Parameters:
xThe state value.

Definition at line 84 of file KFBase.hpp.

template<class Model>
void labust::navigation::KFBase< Model >::setStateCovariance ( matrixref  P) [inline]

Set the state covariance matrix value.

Parameters:
PState covariance matrix.

Definition at line 66 of file KFBase.hpp.

template<class Model>
void labust::navigation::KFBase< Model >::setStateParameters ( const typename Model::matrix W,
const typename Model::matrix Q 
) [inline]

Set the state matrices.

Definition at line 96 of file KFBase.hpp.

template<class Model>
void labust::navigation::KFBase< Model >::setTs ( double  Ts) [inline]

Set the desired sampling time.

Parameters:
TsSampling time

Definition at line 119 of file KFBase.hpp.

template<class Model>
double labust::navigation::KFBase< Model >::traceP ( ) [inline]

Get the covariance trace.

Returns:
Trace of the covariance matrix.

Definition at line 131 of file KFBase.hpp.


Member Data Documentation

template<class Model>
Model::vector labust::navigation::KFBase< Model >::innovation [protected]

The innovation

Definition at line 144 of file KFBase.hpp.

template<class Model>
Model::matrix labust::navigation::KFBase< Model >::innovationCov [protected]

Definition at line 140 of file KFBase.hpp.

template<class Model>
Model::matrix labust::navigation::KFBase< Model >::K [protected]

The Kalman gain, estimate covariance and the innovation covariance matrix

Definition at line 140 of file KFBase.hpp.

template<class Model>
double labust::navigation::KFBase< Model >::outlierR [protected]

Outlier rejection coefficient.

Definition at line 148 of file KFBase.hpp.

template<class Model>
Model::matrix labust::navigation::KFBase< Model >::P [protected]

Definition at line 140 of file KFBase.hpp.


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


labust_navigation
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:23:33