KFilter Class Reference

#include <RPYKalmanFilter.h>

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

Detailed Description

Definition at line 13 of file RPYKalmanFilter.h.

Constructor & Destructor Documentation

KFilter::KFilter ( )

inline

Definition at line 15 of file RPYKalmanFilter.h.

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.

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