nonminimalkalmanfilter.h
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00001 // $Id$
00002 // Copyright (C) 2002 Klaas Gadeyne <first dot last at gmail dot com>
00003 //                    Wim Meeussen  <wim dot meeussen at mech dot kuleuven dot ac dot be>
00004 //
00005 // This program is free software; you can redistribute it and/or modify
00006 // it under the terms of the GNU Lesser General Public License as published by
00007 // the Free Software Foundation; either version 2.1 of the License, or
00008 // (at your option) any later version.
00009 //
00010 // This program is distributed in the hope that it will be useful,
00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013 // GNU Lesser General Public License for more details.
00014 //
00015 // You should have received a copy of the GNU Lesser General Public License
00016 // along with this program; if not, write to the Free Software
00017 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00018 //
00019 
00020 #ifndef __NONMINIMAL_KALMAN_FILTER__
00021 #define __NONMINIMAL_KALMAN_FILTER__
00022 
00023 #include "kalmanfilter.h"
00024 #include "../pdf/conditionalpdf.h"
00025 #include "../pdf/gaussian.h"
00026 #include "../model/nonlinearanalyticmeasurementmodel_gaussianuncertainty.h"
00027 #include "../model/nonlinearanalyticsystemmodel_gaussianuncertainty.h"
00028 #include "nonminimal_state/linearise.h"
00029 #include "../filter/iteratedextendedkalmanfilter.h"
00030 
00031 namespace BFL
00032 {
00033 
00034 #define NLSysModel      NonLinearAnalyticSystemModelGaussianUncertainty
00035 #define NLMeasModel     NonLinearAnalyticMeasurementModelGaussianUncertainty
00036 
00037 
00047   class NonminimalKalmanFilter : public KalmanFilter
00048     {
00049     public:
00059       NonminimalKalmanFilter(Gaussian* prior,
00060                              unsigned int NrIterations,
00061                              vector<NLSysModel*>   minimalsysmodels,
00062                              vector<NLMeasModel*>  minimalmeasmodels,
00063                              vector<GiNaC::symbol> nonlinearstate = *(new vector<GiNaC::symbol>));
00064 
00066       virtual ~NonminimalKalmanFilter();
00067 
00068       // virtual functions
00069       virtual void SysUpdate(SystemModel<ColumnVector>* const sysmodel,
00070                              const ColumnVector& u);
00071       virtual void MeasUpdate(MeasurementModel<ColumnVector,ColumnVector>* const measmodel,
00072                               const ColumnVector& z,
00073                               const ColumnVector& s);
00074 
00075     private:
00076       vector<GiNaC::symbol>        MinimalState, NonminimalState;
00077       Linearise                    *Linear;
00078       IteratedExtendedKalmanFilter *NonminimalFilter, *MinimalFilter;
00079       Gaussian                     *NonminimalPrior, *MinimalPrior;
00080       NLMeasModel                  *MinimalMeasModel;
00081 
00082     };  // class
00083 
00084 } // End namespace
00085 
00086 #endif // __NONMINIMAL_KALMAN_FILTER__


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Mon Feb 11 2019 03:45:12