This class defines an INTERFACE that all recursive estimator filters need to implement It is ROS free It is templated on the type of the state that it estimates and the type of measurements it accepts as input TODO: For multimodality I will need different measurement types. More...
#include <RecursiveEstimatorFilterInterface.h>
Public Member Functions | |
virtual void | addPredictedState (const StateType &predicted_state, const double &predicted_state_timestamp_ns)=0 |
Add a new prediction about the state generated in the higher level (as prediction about the next measurement) | |
virtual void | correctState ()=0 |
Third and final step when updating the filter. The predicted next state is corrected based on the difference between predicted and acquired measurement. | |
virtual MeasurementType | getPredictedMeasurement () const |
Get the predicted next measurement. | |
virtual StateType | getState () const |
Get the currently belief state. | |
virtual void | predictMeasurement ()=0 |
Second step when updating the filter. The next measurement is predicted from the predicted next state. | |
virtual void | predictState (double time_interval_ns)=0 |
First step when updating the filter. The next state is predicted from current state and system model. | |
RecursiveEstimatorFilterInterface (double loop_period_ns) | |
Constructor. | |
virtual void | setMeasurement (const MeasurementType &acquired_measurement, const double &measurement_timestamp) |
Set the latest acquired measurement. | |
virtual | ~RecursiveEstimatorFilterInterface () |
Destructor. | |
Protected Attributes | |
std::string | _filter_name |
double | _loop_period_ns |
MeasurementType | _measurement |
double | _measurement_timestamp_ns |
StateType | _most_likely_predicted_state |
MeasurementType | _predicted_measurement |
std::vector< StateType > | _predicted_states |
double | _previous_measurement_timestamp_ns |
StateType | _state |
This class defines an INTERFACE that all recursive estimator filters need to implement It is ROS free It is templated on the type of the state that it estimates and the type of measurements it accepts as input TODO: For multimodality I will need different measurement types.
Definition at line 50 of file RecursiveEstimatorFilterInterface.h.
omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::RecursiveEstimatorFilterInterface | ( | double | loop_period_ns | ) | [inline] |
Constructor.
Definition at line 58 of file RecursiveEstimatorFilterInterface.h.
virtual omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::~RecursiveEstimatorFilterInterface | ( | ) | [inline, virtual] |
Destructor.
Definition at line 74 of file RecursiveEstimatorFilterInterface.h.
virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::addPredictedState | ( | const StateType & | predicted_state, |
const double & | predicted_state_timestamp_ns | ||
) | [pure virtual] |
Add a new prediction about the state generated in the higher level (as prediction about the next measurement)
predicted_state | Predicted next state |
virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::correctState | ( | ) | [pure virtual] |
Third and final step when updating the filter. The predicted next state is corrected based on the difference between predicted and acquired measurement.
virtual MeasurementType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::getPredictedMeasurement | ( | ) | const [inline, virtual] |
Get the predicted next measurement.
Definition at line 123 of file RecursiveEstimatorFilterInterface.h.
virtual StateType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::getState | ( | ) | const [inline, virtual] |
Get the currently belief state.
Definition at line 133 of file RecursiveEstimatorFilterInterface.h.
virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::predictMeasurement | ( | ) | [pure virtual] |
Second step when updating the filter. The next measurement is predicted from the predicted next state.
virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::predictState | ( | double | time_interval_ns | ) | [pure virtual] |
First step when updating the filter. The next state is predicted from current state and system model.
virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::setMeasurement | ( | const MeasurementType & | acquired_measurement, |
const double & | measurement_timestamp | ||
) | [inline, virtual] |
Set the latest acquired measurement.
acquired_measurement | Latest acquired measurement |
Definition at line 103 of file RecursiveEstimatorFilterInterface.h.
std::string omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_filter_name [protected] |
Definition at line 158 of file RecursiveEstimatorFilterInterface.h.
double omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_loop_period_ns [protected] |
Definition at line 148 of file RecursiveEstimatorFilterInterface.h.
MeasurementType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_measurement [protected] |
Definition at line 141 of file RecursiveEstimatorFilterInterface.h.
double omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_measurement_timestamp_ns [protected] |
Definition at line 151 of file RecursiveEstimatorFilterInterface.h.
StateType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_most_likely_predicted_state [protected] |
Definition at line 166 of file RecursiveEstimatorFilterInterface.h.
MeasurementType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_predicted_measurement [protected] |
Definition at line 168 of file RecursiveEstimatorFilterInterface.h.
std::vector<StateType> omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_predicted_states [protected] |
Definition at line 163 of file RecursiveEstimatorFilterInterface.h.
double omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_previous_measurement_timestamp_ns [protected] |
Definition at line 156 of file RecursiveEstimatorFilterInterface.h.
StateType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_state [protected] |
Definition at line 140 of file RecursiveEstimatorFilterInterface.h.