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

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensorEkf:

Public Member Functions
	KalmanSensorEkf (const KalmanSensorEkf &k)
	KalmanSensorEkf (int _n, int _m)
	~KalmanSensorEkf ()
Protected Member Functions
virtual void	h (CvMat x_pred, CvMat _z_pred)=0
virtual void	update_H (CvMat *x_pred)
	Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).
virtual void	update_x (CvMat x_pred, CvMat x)
	Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation.
Protected Attributes
CvMat *	delta
CvMat *	x_minus
CvMat *	x_plus
CvMat *	z_tmp1
CvMat *	z_tmp2

Detailed Description

Extended Kalman Filter (EKF) sensor implementation.

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

Examples:: SampleFilter.cpp.

Definition at line 225 of file Kalman.h.

Constructor & Destructor Documentation

alvar::KalmanSensorEkf::KalmanSensorEkf ( const KalmanSensorEkf & k )

Definition at line 229 of file Kalman.cpp.

alvar::KalmanSensorEkf::KalmanSensorEkf	(	int	_n,
		int	_m
	)

Definition at line 237 of file Kalman.cpp.

alvar::KalmanSensorEkf::~KalmanSensorEkf ( )

Definition at line 245 of file Kalman.cpp.

Member Function Documentation

virtual void alvar::KalmanSensorEkf::h	(	CvMat *	x_pred,
		CvMat *	_z_pred
	)		`[protected, pure virtual]`

Implemented in KalmanSensorOwn.

void alvar::KalmanSensorEkf::update_H ( CvMat * x_pred ) [protected, virtual]

Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).

Reimplemented from alvar::KalmanSensor.

Definition at line 200 of file Kalman.cpp.

void alvar::KalmanSensorEkf::update_x	(	CvMat *	x_pred,
		CvMat *	x
	)		`[protected, virtual]`

Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation.

Reimplemented from alvar::KalmanSensorCore.

Definition at line 221 of file Kalman.cpp.