#include <KalmanFilter.h>
Public Member Functions | |
| ISM::Object | getObject () |
| bool | isTimedOut (unsigned int threshold) |
| KalmanFilter (ISM::Object pObject) | |
| void | reset () |
| void | update (ISM::Object pObject) |
| ~KalmanFilter () | |
Private Attributes | |
| std::chrono::high_resolution_clock::time_point | lastUpdate |
| Eigen::MatrixXd | mF |
| Eigen::MatrixXd | mH |
| ISM::Object | mInstance |
| Eigen::MatrixXd | mP |
| Eigen::MatrixXd | mQ |
| Eigen::MatrixXd | mR |
| bool | mReset |
| Eigen::VectorXd | mX |
| Eigen::VectorXd | mZ |
The KalmanFilter class implements a KalmanFilter on a multidimensional space. A Kalman Filter estimates the real value vector in terms of the expected input error and expected output error. Which means the smaller the expected input error is, the more likely is the system to change the state. The bigger the expected output error is, the less likely the system is to change. And vice versa.
Definition at line 37 of file KalmanFilter.h.
| ProbabilisticSceneRecognition::KalmanFilter::KalmanFilter | ( | ISM::Object | pObject | ) |
Creates a kalman filter for given input matrices.
| pObject | The inintial measurement. |
Definition at line 23 of file KalmanFilter.cpp.
| ProbabilisticSceneRecognition::KalmanFilter::~KalmanFilter | ( | ) |
Destructor.
Definition at line 39 of file KalmanFilter.cpp.
| ISM::Object ProbabilisticSceneRecognition::KalmanFilter::getObject | ( | ) |
Returns the AsrObject wrapped by the filter.
Definition at line 102 of file KalmanFilter.cpp.
| bool ProbabilisticSceneRecognition::KalmanFilter::isTimedOut | ( | unsigned int | threshold | ) |
Checks if the last update has been longer ago than the given threshold.
| threshold | Valid time in milliseconds since the last update. |
Definition at line 97 of file KalmanFilter.cpp.
| void ProbabilisticSceneRecognition::KalmanFilter::reset | ( | ) |
Resets the kalman filter.
Definition at line 42 of file KalmanFilter.cpp.
| void ProbabilisticSceneRecognition::KalmanFilter::update | ( | ISM::Object | pObject | ) |
Updates the current state of the system
| pObject | The new measurement to update the filter. |
Definition at line 46 of file KalmanFilter.cpp.
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private |
The time since the last update.
Definition at line 47 of file KalmanFilter.h.
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private |
A multidimensional matrix.
Definition at line 52 of file KalmanFilter.h.
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private |
A multidimensional matrix.
Definition at line 53 of file KalmanFilter.h.
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Instance of the current AsrObject.
Definition at line 87 of file KalmanFilter.h.
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private |
A multidimensional matrix.
Definition at line 72 of file KalmanFilter.h.
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A multidimensional matrix.
Definition at line 62 of file KalmanFilter.h.
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A multidimensional matrix.
Definition at line 67 of file KalmanFilter.h.
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If reset flag is true, reset the system to the current measurement.
Definition at line 42 of file KalmanFilter.h.
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A multidimensional vector.
Definition at line 77 of file KalmanFilter.h.
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A multidimensional vector.
Definition at line 82 of file KalmanFilter.h.