omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType > Class Template Reference

This class defines an INTERFACE that all recursive estimator filters need to implement It is ROS free It is templated on the type of the state that it estimates and the type of measurements it accepts as input TODO: For multimodality I will need different measurement types. More...

#include <RecursiveEstimatorFilterInterface.h>

Public Member Functions
virtual void	addPredictedState (const StateType &predicted_state, const double &predicted_state_timestamp_ns)=0
	Add a new prediction about the state generated in the higher level (as prediction about the next measurement) More...
virtual void	correctState ()=0
	Third and final step when updating the filter. The predicted next state is corrected based on the difference between predicted and acquired measurement. More...
virtual MeasurementType	getPredictedMeasurement () const
	Get the predicted next measurement. More...
virtual StateType	getState () const
	Get the currently belief state. More...
virtual void	predictMeasurement ()=0
	Second step when updating the filter. The next measurement is predicted from the predicted next state. More...
virtual void	predictState (double time_interval_ns)=0
	First step when updating the filter. The next state is predicted from current state and system model. More...
	RecursiveEstimatorFilterInterface (double loop_period_ns)
	Constructor. More...
virtual void	setMeasurement (const MeasurementType &acquired_measurement, const double &measurement_timestamp)
	Set the latest acquired measurement. More...
virtual	~RecursiveEstimatorFilterInterface ()
	Destructor. More...

Protected Attributes
std::string	_filter_name
double	_loop_period_ns
MeasurementType	_measurement
double	_measurement_timestamp_ns
StateType	_most_likely_predicted_state
MeasurementType	_predicted_measurement
std::vector< StateType >	_predicted_states
double	_previous_measurement_timestamp_ns
StateType	_state

Detailed Description

template<class StateType, class MeasurementType>
class omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >

This class defines an INTERFACE that all recursive estimator filters need to implement It is ROS free It is templated on the type of the state that it estimates and the type of measurements it accepts as input TODO: For multimodality I will need different measurement types.

Definition at line 50 of file RecursiveEstimatorFilterInterface.h.

Constructor & Destructor Documentation

template<class StateType , class MeasurementType >

omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::RecursiveEstimatorFilterInterface ( double  loop_period_ns )

inline

Constructor.

Definition at line 58 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

virtual omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::~RecursiveEstimatorFilterInterface ( )

inlinevirtual

Destructor.

Definition at line 74 of file RecursiveEstimatorFilterInterface.h.

Member Function Documentation

template<class StateType , class MeasurementType >

virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::addPredictedState ( const StateType &  predicted_state, const double &  predicted_state_timestamp_ns  )

pure virtual

Add a new prediction about the state generated in the higher level (as prediction about the next measurement)

Parameters

predicted_state

Predicted next state

template<class StateType , class MeasurementType >

virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::correctState ( )

pure virtual

Third and final step when updating the filter. The predicted next state is corrected based on the difference between predicted and acquired measurement.

template<class StateType , class MeasurementType >

virtual MeasurementType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::getPredictedMeasurement ( ) const

inlinevirtual

Get the predicted next measurement.

Returns

MeasurementType MeasurementType Predicted next measurement based on the predicted next state

Definition at line 123 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

virtual StateType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::getState ( ) const

inlinevirtual

Get the currently belief state.

Returns

StateType Currently belief state

Definition at line 133 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::predictMeasurement ( )

pure virtual

Second step when updating the filter. The next measurement is predicted from the predicted next state.

template<class StateType , class MeasurementType >

virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::predictState ( double  time_interval_ns )

pure virtual

First step when updating the filter. The next state is predicted from current state and system model.

template<class StateType , class MeasurementType >

virtual void omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::setMeasurement ( const MeasurementType &  acquired_measurement, const double &  measurement_timestamp  )

inlinevirtual

Set the latest acquired measurement.

Parameters

acquired_measurement

Latest acquired measurement

Definition at line 103 of file RecursiveEstimatorFilterInterface.h.

Member Data Documentation

template<class StateType , class MeasurementType >

std::string omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_filter_name

protected

Definition at line 158 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

double omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_loop_period_ns

protected

Definition at line 148 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

MeasurementType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_measurement

protected

Definition at line 141 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

double omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_measurement_timestamp_ns

protected

Definition at line 151 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

StateType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_most_likely_predicted_state

protected

Definition at line 166 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

MeasurementType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_predicted_measurement

protected

Definition at line 168 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

std::vector<StateType> omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_predicted_states

protected

Definition at line 163 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

double omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_previous_measurement_timestamp_ns

protected

Definition at line 156 of file RecursiveEstimatorFilterInterface.h.

template<class StateType , class MeasurementType >

StateType omip::RecursiveEstimatorFilterInterface< StateType, MeasurementType >::_state

protected

Definition at line 140 of file RecursiveEstimatorFilterInterface.h.

---

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

• RecursiveEstimatorFilterInterface.h