KFilter Class Reference

#include <RPYKalmanFilter.h>

List of all members.

Public Member Functions
const hrp::Vector2 &	getx ()
	KFilter ()
void	resetStateByObservation ()
void	setB (const double _b0, const double _b1)
void	setF (const double _f0, const double _f1, const double _f2, const double _f3)
void	setP (const double _p0, const double _p1, const double _p2, const double _p3)
void	setQ (const double _q0, const double _q1, const double _q2, const double _q3)
void	setR (const double _R)
void	update (const double u, const double _z)
Private Attributes
hrp::Vector2	B
hrp::Matrix22	F
Eigen::Matrix< double, 1, 2 >	H
hrp::Matrix22	I
hrp::Vector2	K
hrp::Matrix22	P
hrp::Matrix22	Q
double	R
hrp::Vector2	x
double	z

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Detailed Description

Definition at line 13 of file RPYKalmanFilter.h.

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Constructor & Destructor Documentation

KFilter::KFilter

(

)

[inline]

Definition at line 15 of file RPYKalmanFilter.h.

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Member Function Documentation

const hrp::Vector2& KFilter::getx

(

)

[inline]

Definition at line 41 of file RPYKalmanFilter.h.

void KFilter::resetStateByObservation

(

)

[inline]

Definition at line 60 of file RPYKalmanFilter.h.

void KFilter::setB	(	const double	_b0,
		const double	_b1
	)		[inline]

Definition at line 40 of file RPYKalmanFilter.h.

void KFilter::setF	(	const double	_f0,
		const double	_f1,
		const double	_f2,
		const double	_f3
	)		[inline]

Definition at line 36 of file RPYKalmanFilter.h.

void KFilter::setP	(	const double	_p0,
		const double	_p1,
		const double	_p2,
		const double	_p3
	)		[inline]

Definition at line 37 of file RPYKalmanFilter.h.

void KFilter::setQ	(	const double	_q0,
		const double	_q1,
		const double	_q2,
		const double	_q3
	)		[inline]

Definition at line 38 of file RPYKalmanFilter.h.

void KFilter::setR

(

const double

_R

)

[inline]

Definition at line 39 of file RPYKalmanFilter.h.

void KFilter::update	(	const double	u,
		const double	_z
	)		[inline]

Definition at line 42 of file RPYKalmanFilter.h.

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Member Data Documentation

hrp::Vector2 KFilter::B [private]

Definition at line 66 of file RPYKalmanFilter.h.

hrp::Matrix22 KFilter::F [private]

Definition at line 62 of file RPYKalmanFilter.h.

Eigen::Matrix<double, 1, 2> KFilter::H [private]

Definition at line 65 of file RPYKalmanFilter.h.

hrp::Matrix22 KFilter::I [private]

Definition at line 62 of file RPYKalmanFilter.h.

hrp::Vector2 KFilter::K [private]

Definition at line 66 of file RPYKalmanFilter.h.

hrp::Matrix22 KFilter::P [private]

Definition at line 62 of file RPYKalmanFilter.h.

hrp::Matrix22 KFilter::Q [private]

Definition at line 62 of file RPYKalmanFilter.h.

double KFilter::R [private]

Definition at line 68 of file RPYKalmanFilter.h.

hrp::Vector2 KFilter::x [private]

Definition at line 67 of file RPYKalmanFilter.h.

double KFilter::z [private]

Definition at line 68 of file RPYKalmanFilter.h.

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

• RPYKalmanFilter.h