#include <nonminimalkalmanfilter.h>
Public Member Functions | |
virtual void | MeasUpdate (MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s) |
NonminimalKalmanFilter (Gaussian *prior, unsigned int NrIterations, vector< NLSysModel * > minimalsysmodels, vector< NLMeasModel * > minimalmeasmodels, vector< GiNaC::symbol > nonlinearstate=*(new vector< GiNaC::symbol >)) | |
virtual void | SysUpdate (SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u) |
virtual | ~NonminimalKalmanFilter () |
Destructor. | |
Private Attributes | |
Linearise * | Linear |
IteratedExtendedKalmanFilter * | MinimalFilter |
NLMeasModel * | MinimalMeasModel |
Gaussian * | MinimalPrior |
vector< GiNaC::symbol > | MinimalState |
IteratedExtendedKalmanFilter * | NonminimalFilter |
Gaussian * | NonminimalPrior |
vector< GiNaC::symbol > | NonminimalState |
This is a class implementing the Kalman Filter (KF) class for Non Minimal State Kalman Filters.
The System- and MeasurementUpdate equasions are not linear. Substituting the state by a non-minimal state will make the System- and MeasurementUpdate linear in the non-minimal state
Definition at line 47 of file nonminimalkalmanfilter.h.
BFL::NonminimalKalmanFilter::NonminimalKalmanFilter | ( | Gaussian * | prior, |
unsigned int | NrIterations, | ||
vector< NLSysModel * > | minimalsysmodels, | ||
vector< NLMeasModel * > | minimalmeasmodels, | ||
vector< GiNaC::symbol > | nonlinearstate = *(new vector<GiNaC::symbol>) |
||
) |
Constructor
prior | pointer to the Gaussian prior density |
NrIterations | Number of iterations that will be used (this class uses 2 IEKF: one for the minimal state and one for the nonminimal state) |
minimalsysmodels | vector of measurement models that can be used for measurement updates |
minimalmeasmodels | vector of system models that can be used for system updates |
nonlinearstate | symbols of state in wich the filter should be linearised |
Definition at line 30 of file nonminimalkalmanfilter.cpp.
BFL::NonminimalKalmanFilter::~NonminimalKalmanFilter | ( | ) | [virtual] |
Destructor.
Definition at line 71 of file nonminimalkalmanfilter.cpp.
void BFL::NonminimalKalmanFilter::MeasUpdate | ( | MeasurementModel< ColumnVector, ColumnVector > *const | measmodel, |
const ColumnVector & | z, | ||
const ColumnVector & | s | ||
) | [virtual] |
Definition at line 88 of file nonminimalkalmanfilter.cpp.
void BFL::NonminimalKalmanFilter::SysUpdate | ( | SystemModel< ColumnVector > *const | sysmodel, |
const ColumnVector & | u | ||
) | [virtual] |
Definition at line 81 of file nonminimalkalmanfilter.cpp.
Linearise* BFL::NonminimalKalmanFilter::Linear [private] |
Definition at line 77 of file nonminimalkalmanfilter.h.
Definition at line 78 of file nonminimalkalmanfilter.h.
Definition at line 80 of file nonminimalkalmanfilter.h.
Gaussian * BFL::NonminimalKalmanFilter::MinimalPrior [private] |
Definition at line 79 of file nonminimalkalmanfilter.h.
vector<GiNaC::symbol> BFL::NonminimalKalmanFilter::MinimalState [private] |
Definition at line 76 of file nonminimalkalmanfilter.h.
Definition at line 78 of file nonminimalkalmanfilter.h.
Definition at line 79 of file nonminimalkalmanfilter.h.
vector<GiNaC::symbol> BFL::NonminimalKalmanFilter::NonminimalState [private] |
Definition at line 76 of file nonminimalkalmanfilter.h.