alvar::KalmanEkf Class Reference

Extended Kalman Filter (EKF) implementation. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanEkf:

List of all members.

Public Member Functions
	KalmanEkf (int _n)
	~KalmanEkf ()
Protected Member Functions
virtual void	f (CvMat *_x, CvMat *_x_pred, double dt)=0
virtual void	predict_x (unsigned long tick)
virtual void	update_F (unsigned long tick)
Protected Attributes
CvMat *	delta
CvMat *	x_minus
CvMat *	x_plus
CvMat *	x_tmp1
CvMat *	x_tmp2

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Detailed Description

Extended Kalman Filter (EKF) implementation.

Please override the pure virtual f() with the desired unlinear function. By default the upate_F calculates the Jacobian numerically, if you want other approach override also the update_F()

Examples:

SampleFilter.cpp.

Definition at line 247 of file Kalman.h.

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Constructor & Destructor Documentation

alvar::KalmanEkf::KalmanEkf

(

int

_n

)

Definition at line 281 of file Kalman.cpp.

alvar::KalmanEkf::~KalmanEkf

(

)

Definition at line 289 of file Kalman.cpp.

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Member Function Documentation

virtual void alvar::KalmanEkf::f	(	CvMat *	_x,
		CvMat *	_x_pred,
		double	dt
	)		[protected, pure virtual]

Implemented in KalmanOwn.

void alvar::KalmanEkf::predict_x

(

unsigned long

tick

)

[protected, virtual]

Reimplemented from alvar::KalmanCore.

Definition at line 276 of file Kalman.cpp.

void alvar::KalmanEkf::update_F

(

unsigned long

tick

)

[protected, virtual]

If your transition matrix F is based on time you need to override this method.

Reimplemented from alvar::Kalman.

Definition at line 253 of file Kalman.cpp.

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Member Data Documentation

CvMat* alvar::KalmanEkf::delta [protected]

Definition at line 249 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_minus [protected]

Definition at line 251 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_plus [protected]

Definition at line 250 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_tmp1 [protected]

Definition at line 252 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_tmp2 [protected]

Definition at line 253 of file Kalman.h.

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

• Kalman.h
• Kalman.cpp