RobotLocalization::Ekf Class Reference

Extended Kalman filter class. More...

#include <ekf.h>

Inheritance diagram for RobotLocalization::Ekf:

List of all members.

Public Member Functions
void	correct (const Measurement &measurement)
	Carries out the correct step in the predict/update cycle.
	Ekf (std::vector< double > args=std::vector< double >())
	Constructor for the Ekf class.
void	predict (const double referenceTime, const double delta)
	Carries out the predict step in the predict/update cycle.
	~Ekf ()
	Destructor for the Ekf class.

---

Detailed Description

Extended Kalman filter class.

Implementation of an extended Kalman filter (EKF). This class derives from FilterBase and overrides the predict() and correct() methods in keeping with the discrete time EKF algorithm.

Definition at line 53 of file ekf.h.

---

Constructor & Destructor Documentation

RobotLocalization::Ekf::Ekf

(

std::vector< double >

args = std::vector<double>()

)

[explicit]

Constructor for the Ekf class.

Parameters:

[in]

args

- Generic argument container (not used here, but needed so that the ROS filters can pass arbitrary arguments to templated filter types).

Definition at line 45 of file ekf.cpp.

RobotLocalization::Ekf::~Ekf

(

)

Destructor for the Ekf class.

Definition at line 50 of file ekf.cpp.

---

Member Function Documentation

void RobotLocalization::Ekf::correct

(

const Measurement &

measurement

)

[virtual]

Carries out the correct step in the predict/update cycle.

Parameters:

[in]

measurement

- The measurement to fuse with our estimate

Implements RobotLocalization::FilterBase.

Definition at line 54 of file ekf.cpp.

void RobotLocalization::Ekf::predict	(	const double	referenceTime,
		const double	delta
	)		[virtual]

Carries out the predict step in the predict/update cycle.

Projects the state and error matrices forward using a model of the vehicle's motion.

Parameters:

[in]	referenceTime	- The time at which the prediction is being made
[in]	delta	- The time step over which to predict.

Implements RobotLocalization::FilterBase.

Definition at line 209 of file ekf.cpp.

---

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

• ekf.h
• ekf.cpp