labust::navigation::KFBase< Model > Class Template Reference

#include <KFBase.hpp>

Inheritance diagram for labust::navigation::KFBase< Model >:

List of all members.

Public Types
typedef const Model::input_type &	inputref
typedef const Model::matrix &	matrixref
typedef const Model::output_type &	outputref
typedef const Model::vector &	vectorref
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

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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.

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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.

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Constructor & Destructor Documentation

template<class Model>

labust::navigation::KFBase< Model >::KFBase

(

)

[inline]

Generic constructor.

Definition at line 58 of file KFBase.hpp.

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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:

x	The 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:

P	State 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:

Ts	Sampling 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.

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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.

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

• KFBase.hpp