Public Member Functions | List of all members

Provides a Kalman filter for state estimation. More...

#include <kalman_filter.hpp>

Inheritance diagram for KalmanFilter:
Inheritance graph
[legend]

Public Member Functions

virtual Estimatorclone () const
 
virtual returnValue init (double startTime=0.0, const DVector &x0_=emptyConstVector, const DVector &p_=emptyConstVector)
 
 KalmanFilter (double _samplingTime=DEFAULT_SAMPLING_TIME)
 
 KalmanFilter (const KalmanFilter &rhs)
 
KalmanFilteroperator= (const KalmanFilter &rhs)
 
virtual returnValue step (double currentTime, const DVector &_y)
 
virtual ~KalmanFilter ()
 
- Public Member Functions inherited from Estimator
 Estimator ()
 
 Estimator (double _samplingTime)
 
 Estimator (const Estimator &rhs)
 
uint getNP () const
 
uint getNU () const
 
uint getNW () const
 
uint getNX () const
 
uint getNXA () const
 
uint getNY () const
 
returnValue getOutputs (DVector &_x, DVector &_xa, DVector &_u, DVector &_p, DVector &_w) const
 
returnValue getP (DVector &_p) const
 
returnValue getU (DVector &_u) const
 
returnValue getW (DVector &_w) const
 
returnValue getX (DVector &_x) const
 
returnValue getXA (DVector &_xa) const
 
Estimatoroperator= (const Estimator &rhs)
 
virtual ~Estimator ()
 
- Public Member Functions inherited from SimulationBlock
BlockName getName () const
 
double getSamplingTime () const
 
BooleanType isDefined () const
 
SimulationBlockoperator= (const SimulationBlock &rhs)
 
returnValue setName (BlockName _name)
 
returnValue setSamplingTime (double _samplingTime)
 
 SimulationBlock ()
 
 SimulationBlock (BlockName _name, double _samplingTime=DEFAULT_SAMPLING_TIME)
 
 SimulationBlock (const SimulationBlock &rhs)
 
virtual ~SimulationBlock ()
 
- Public Member Functions inherited from UserInteraction
virtual int addPlotWindow (PlotWindow &_window)
 
virtual int operator<< (PlotWindow &_window)
 
virtual int operator<< (LogRecord &_record)
 
UserInteractionoperator= (const UserInteraction &rhs)
 
 UserInteraction ()
 
 UserInteraction (const UserInteraction &rhs)
 
virtual ~UserInteraction ()
 
- Public Member Functions inherited from Options
returnValue addOptionsList ()
 
returnValue ensureConsistency ()
 
returnValue ensureConsistency ()
 
returnValue get (OptionsName name, int &value) const
 
returnValue get (OptionsName name, double &value) const
 
returnValue get (OptionsName name, std::string &value) const
 
returnValue get (uint idx, OptionsName name, int &value) const
 
returnValue get (uint idx, OptionsName name, double &value) const
 
returnValue get (uint idx, OptionsName name, std::string &value) const
 
uint getNumOptionsLists () const
 
Options getOptions (uint idx) const
 
Optionsoperator= (const Options &rhs)
 
Optionsoperator= (const Options &rhs)
 
 Options ()
 
 Options ()
 
 Options (const Options &rhs)
 
 Options (const Options &rhs)
 
 Options ()
 
 Options (const OptionsList &_optionsList)
 
returnValue print () const
 
returnValue print () const
 
returnValue printOptionsList () const
 
returnValue printOptionsList (uint idx) const
 
returnValue set (OptionsName name, int value)
 
returnValue set (OptionsName name, double value)
 
returnValue set (OptionsName name, const std::string &value)
 
returnValue set (uint idx, OptionsName name, int value)
 
returnValue set (uint idx, OptionsName name, double value)
 
returnValue set (uint idx, OptionsName name, const std::string &value)
 
returnValue setOptions (const Options &arg)
 
returnValue setOptions (uint idx, const Options &arg)
 
returnValue setToDefault ()
 
returnValue setToDefault ()
 
returnValue setToFast ()
 
returnValue setToFast ()
 
returnValue setToMPC ()
 
returnValue setToReliable ()
 
returnValue setToReliable ()
 
 ~Options ()
 
 ~Options ()
 
virtual ~Options ()
 
- Public Member Functions inherited from Logging
int addLogRecord (LogRecord &record)
 
returnValue getAll (LogName _name, MatrixVariablesGrid &values) const
 
returnValue getFirst (LogName _name, DMatrix &firstValue) const
 
returnValue getFirst (LogName _name, VariablesGrid &firstValue) const
 
returnValue getLast (LogName _name, DMatrix &lastValue) const
 
returnValue getLast (LogName _name, VariablesGrid &lastValue) const
 
returnValue getLogRecord (LogRecord &_record) const
 
uint getNumLogRecords () const
 
 Logging ()
 
int operator<< (LogRecord &record)
 
returnValue printLoggingInfo () const
 
returnValue printNumDoubles () const
 
returnValue setAll (LogName _name, const MatrixVariablesGrid &values)
 
returnValue setLast (LogName _name, const DMatrix &value, double time=-INFTY)
 
returnValue setLast (LogName _name, VariablesGrid &value, double time=-INFTY)
 
returnValue updateLogRecord (LogRecord &_record) const
 
virtual ~Logging ()
 
- Public Member Functions inherited from Plotting
int addPlotWindow (PlotWindow &_window)
 
uint getNumPlotWindows () const
 
returnValue getPlotWindow (uint idx, PlotWindow &_window) const
 
returnValue getPlotWindow (PlotWindow &_window) const
 
int operator<< (PlotWindow &_window)
 
Plottingoperator= (const Plotting &rhs)
 
virtual returnValue plot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
 Plotting ()
 
 Plotting (const Plotting &rhs)
 
virtual returnValue replot (PlotFrequency _frequency=PLOT_IN_ANY_CASE)
 
virtual ~Plotting ()
 

Additional Inherited Members

- Public Attributes inherited from Options
real_t boundRelaxation
 
real_t boundTolerance
 
int dropBoundPriority
 
int_t dropBoundPriority
 
int dropEqConPriority
 
int_t dropEqConPriority
 
int dropIneqConPriority
 
int_t dropIneqConPriority
 
int enableCholeskyRefactorisation
 
int_t enableCholeskyRefactorisation
 
int enableDriftCorrection
 
int_t enableDriftCorrection
 
BooleanType enableDropInfeasibles
 
BooleanType enableEqualities
 
BooleanType enableFarBounds
 
BooleanType enableFlippingBounds
 
BooleanType enableFullLITests
 
BooleanType enableInertiaCorrection
 
BooleanType enableNZCTests
 
BooleanType enableRamping
 
BooleanType enableRegularisation
 
real_t epsDen
 
real_t epsFlipping
 
real_t epsIterRef
 
real_t epsLITests
 
real_t epsNum
 
real_t epsNZCTests
 
real_t epsRegularisation
 
real_t finalRamping
 
real_t growFarBounds
 
real_t initialFarBounds
 
real_t initialRamping
 
SubjectToStatus initialStatusBounds
 
real_t maxDualJump
 
real_t maxPrimalJump
 
int numRefinementSteps
 
int_t numRefinementSteps
 
int numRegularisationSteps
 
int_t numRegularisationSteps
 
PrintLevel printLevel
 
real_t rcondSMin
 
real_t terminationTolerance
 
- Protected Member Functions inherited from UserInteraction
virtual returnValue getPlotDataFromMemberLoggings (PlotWindow &_window) const
 
BlockStatus getStatus () const
 
returnValue setStatus (BlockStatus _status)
 
- Protected Member Functions inherited from Options
returnValue addOption (OptionsName name, int value)
 
returnValue addOption (OptionsName name, double value)
 
returnValue addOption (OptionsName name, const std::string &value)
 
returnValue addOption (uint idx, OptionsName name, int value)
 
returnValue addOption (uint idx, OptionsName name, double value)
 
returnValue addOption (uint idx, OptionsName name, const std::string &value)
 
returnValue clearOptionsList ()
 
returnValue copy (const Options &rhs)
 
returnValue copy (const Options &rhs)
 
returnValue declareOptionsUnchanged ()
 
returnValue declareOptionsUnchanged (uint idx)
 
BooleanType haveOptionsChanged () const
 
BooleanType haveOptionsChanged (uint idx) const
 
virtual returnValue setupOptions ()
 
- Protected Member Functions inherited from Logging
virtual returnValue setupLogging ()
 
- Protected Attributes inherited from Estimator
DVector p
 
DVector u
 
DVector w
 
DVector x
 
DVector xa
 
- Protected Attributes inherited from SimulationBlock
BlockName name
 
RealClock realClock
 
double samplingTime
 
- Protected Attributes inherited from UserInteraction
BlockStatus status
 
- Protected Attributes inherited from Options
std::vector< OptionsListlists
 
- Protected Attributes inherited from Logging
std::vector< LogRecordlogCollection
 
int logIdx
 
- Protected Attributes inherited from Plotting
PlotCollection plotCollection
 

Detailed Description

Provides a Kalman filter for state estimation.

The class KalmanFilter provides a Kalman filter for state estimation.

\author Hans Joachim Ferreau, Boris Houska

Definition at line 53 of file kalman_filter.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO KalmanFilter::KalmanFilter ( double  _samplingTime = DEFAULT_SAMPLING_TIME)

Constructor taking minimal sub-block configuration.

Definition at line 46 of file kalman_filter.cpp.

KalmanFilter::KalmanFilter ( const KalmanFilter rhs)

Copy constructor (deep copy).

Definition at line 53 of file kalman_filter.cpp.

KalmanFilter::~KalmanFilter ( )
virtual

Destructor.

Definition at line 58 of file kalman_filter.cpp.

Member Function Documentation

Estimator * KalmanFilter::clone ( ) const
virtual

Implements Estimator.

Definition at line 76 of file kalman_filter.cpp.

returnValue KalmanFilter::init ( double  startTime = 0.0,
const DVector x0_ = emptyConstVector,
const DVector p_ = emptyConstVector 
)
virtual

Initialization.

Reimplemented from Estimator.

Definition at line 83 of file kalman_filter.cpp.

KalmanFilter & KalmanFilter::operator= ( const KalmanFilter rhs)

Assignment operator (deep copy).

Definition at line 63 of file kalman_filter.cpp.

returnValue KalmanFilter::step ( double  currentTime,
const DVector _y 
)
virtual

Executes next single step.

Implements Estimator.

Definition at line 94 of file kalman_filter.cpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Mon Jun 10 2019 12:35:25