Inheritance diagram for KalmanSensorOwn:
Public Member Functions | |
| KalmanSensorOwn (int _n, int _m) | |
 Public Member Functions inherited from alvar::KalmanSensorEkf | |
| KalmanSensorEkf (const KalmanSensorEkf &k) | |
| KalmanSensorEkf (int _n, int _m) | |
| ~KalmanSensorEkf () | |
| Public Member Functions inherited from alvar::KalmanSensor | |
| KalmanSensor (const KalmanSensor &k) | |
| Copy constructor. More... | |
| KalmanSensor (int n, int _m) | |
| Constructor. More... | |
| virtual void | update_K (CvMat *P_pred) |
| Method for updating the Kalman gain. This is called from predict_update() of Kalman. More... | |
| virtual void | update_P (CvMat *P_pred, CvMat *P) |
| Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman. More... | |
| ~KalmanSensor () | |
| Destructor. More... | |
| Public Member Functions inherited from alvar::KalmanSensorCore | |
| int | get_m () |
| Accessor for m. More... | |
| int | get_n () |
| Accessor for n. More... | |
| KalmanSensorCore (const KalmanSensorCore &k) | |
| Copy constructor. More... | |
| KalmanSensorCore (int _n, int _m) | |
| Constructor. More... | |
| ~KalmanSensorCore () | |
| Destructor. More... | |
Private Member Functions | |
| virtual void | h (CvMat *x_pred, CvMat *_z_pred) |
Additional Inherited Members | |
| Public Attributes inherited from alvar::KalmanSensor | |
| CvMat * | R |
| The covariance matrix for the observation noise. More... | |
| Public Attributes inherited from alvar::KalmanSensorCore | |
| CvMat * | H |
| The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector. More... | |
| CvMat * | K |
| The matrix (n*m) containing Kalman gain (something between 0 and H^-1). In this core-implementation we assume this to be precalculated. In KalmanSensor this is updated using update_K . More... | |
| CvMat * | z |
| Latest measurement vector (m*1) More... | |
| Protected Member Functions inherited from alvar::KalmanSensorEkf | |
| virtual void | update_H (CvMat *x_pred) |
| Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?). More... | |
| virtual void | update_x (CvMat *x_pred, CvMat *x) |
| Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation. More... | |
| Protected Attributes inherited from alvar::KalmanSensorEkf | |
| CvMat * | delta |
| CvMat * | x_minus |
| CvMat * | x_plus |
| CvMat * | z_tmp1 |
| CvMat * | z_tmp2 |
| Protected Attributes inherited from alvar::KalmanSensor | |
| CvMat * | P_tmp |
| CvMat * | R_tmp |
| Protected Attributes inherited from alvar::KalmanSensorCore | |
| CvMat * | H_trans |
| int | m |
| int | n |
| CvMat * | x_gain |
| CvMat * | z_pred |
| CvMat * | z_residual |
Detailed Description
- Examples:
- SampleFilter.cpp.
Definition at line 91 of file SampleFilter.cpp.
Constructor & Destructor Documentation
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inline |
Definition at line 101 of file SampleFilter.cpp.
Member Function Documentation
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inlineprivatevirtual |
Implements alvar::KalmanSensorEkf.
Definition at line 92 of file SampleFilter.cpp.
The documentation for this class was generated from the following file: