tuw::KalmanFilterInterface< KFPredType, KFUpdateType > Class Template Reference

Interface for simplified manipulation of specialized (Extended) Kalman Filter implementations. More...

#include <kalman_filter.hpp>

Inheritance diagram for tuw::KalmanFilterInterface< KFPredType, KFUpdateType >:

Public Member Functions
	KalmanFilterInterface (typename KFPredType::ParamsType &_params)
	KalmanFilterInterface (const KalmanFilterInterface &)=default
	KalmanFilterInterface (KalmanFilterInterface &&)=default
KalmanFilterInterface &	operator= (const KalmanFilterInterface &)=default
KalmanFilterInterface &	operator= (KalmanFilterInterface &&)=default
template<typename KFUpdateTypeI = typename std::tuple_element<0, std::tuple<KFUpdateType...>>::type, int i = KFUpdateTypeI::hDim, typename std::enable_if<(i > = 0>
void	update (const Eigen::Matrix< typename KFPredType::NumericalType, KFUpdateTypeI::hDim, 1 > &_zObs)
	Performs the update step defined by the template argument KFUpdateTypeI (defaults to first updater class). More...
template<typename KFUpdateTypeI = typename std::tuple_element<0, std::tuple<KFUpdateType...>>::type, int i = KFUpdateTypeI::hDim, typename std::enable_if<(i==-1)>::type * = nullptr>
void	update (const Eigen::Matrix< typename KFPredType::NumericalType, KFUpdateTypeI::hDim, 1 > &_zObs)
	Performs the update step by the template argument KFUpdateTypeI (defaults to first updater class) with resizing. More...
virtual	~KalmanFilterInterface ()=default

Private Attributes
std::tuple< KFUpdateType... >	updaters_
	Container. More...

Detailed Description

template<typename KFPredType, typename... KFUpdateType>
class tuw::KalmanFilterInterface< KFPredType, KFUpdateType >

Interface for simplified manipulation of specialized (Extended) Kalman Filter implementations.

Template Parameters

KFPredType	Kalman prediction class (extended from KalmanFilterPredictInterface)
KFUpdateType	Parameter pack of implemented KalmanFilterUpdateInterface classes that are used to update the filter As building blocks, a KalmanFilterPredictInterface and multilple KalmanFilterUpdateInterface have to be defined.

Definition at line 366 of file kalman_filter.hpp.

Constructor & Destructor Documentation

template<typename KFPredType , typename... KFUpdateType>

tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::KalmanFilterInterface ( typename KFPredType::ParamsType &  _params )

inline

Definition at line 370 of file kalman_filter.hpp.

template<typename KFPredType , typename... KFUpdateType>

virtual tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::~KalmanFilterInterface ( )

virtualdefault

template<typename KFPredType , typename... KFUpdateType>

tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::KalmanFilterInterface ( const KalmanFilterInterface< KFPredType, KFUpdateType > &  )

default

template<typename KFPredType , typename... KFUpdateType>

tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::KalmanFilterInterface ( KalmanFilterInterface< KFPredType, KFUpdateType > &&  )

default

Member Function Documentation

template<typename KFPredType , typename... KFUpdateType>

KalmanFilterInterface& tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::operator= ( const KalmanFilterInterface< KFPredType, KFUpdateType > &  )

default

template<typename KFPredType , typename... KFUpdateType>

KalmanFilterInterface& tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::operator= ( KalmanFilterInterface< KFPredType, KFUpdateType > &&  )

default

template<typename KFPredType , typename... KFUpdateType>

template<typename KFUpdateTypeI = typename std::tuple_element<0, std::tuple<KFUpdateType...>>::type, int i = KFUpdateTypeI::hDim, typename std::enable_if<(i > = 0>

void tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::update ( const Eigen::Matrix< typename KFPredType::NumericalType, KFUpdateTypeI::hDim, 1 > &  _zObs )

inline

Performs the update step defined by the template argument KFUpdateTypeI (defaults to first updater class).

This function performs no resizing on the internal filter variables and is thus intended for external use only for compile-time constant filter state size.

The order in which the implementation-specific functions are called is: KalmanFilterUpdateInterface::precompute, KalmanFilterUpdateInterface::computeH, KalmanFilterUpdateInterface::computeh, KalmanFilterUpdateInterface::computeR. Note that computeH is called before KalmanFilterUpdateInterface::computeh and thus KalmanFilterUpdateInterface::H_ can be used in KalmanFilterUpdateInterface::computeh (for linear prediction models).

Parameters

_u	Inputs vector.
_Ta	Time duration since last prediction step.

See also

KalmanFilterUpdateInterface::precompute, KalmanFilterUpdateInterface::computeH, KalmanFilterUpdateInterface::computeh, KalmanFilterUpdateInterface::computeR

Definition at line 411 of file kalman_filter.hpp.

template<typename KFPredType , typename... KFUpdateType>

template<typename KFUpdateTypeI = typename std::tuple_element<0, std::tuple<KFUpdateType...>>::type, int i = KFUpdateTypeI::hDim, typename std::enable_if<(i==-1)>::type * = nullptr>

void tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::update ( const Eigen::Matrix< typename KFPredType::NumericalType, KFUpdateTypeI::hDim, 1 > &  _zObs )

inline

Performs the update step by the template argument KFUpdateTypeI (defaults to first updater class) with resizing.

This function performs resizing on the internal filter variables and later calls its its static counterpart. It is intended for external use for dynamic filter measurement vector size.

For dynamic measurement vector size, KalmanFilterUpdateInterface::h_, KalmanFilterUpdateInterface::H_ and KalmanFilterUpdateInterface::R_ are being properly resized but their content is not initialized.

See also

update for constant measurement vector size

Definition at line 435 of file kalman_filter.hpp.

Member Data Documentation

template<typename KFPredType , typename... KFUpdateType>

std::tuple<KFUpdateType...> tuw::KalmanFilterInterface< KFPredType, KFUpdateType >::updaters_

private

Container.

Definition at line 445 of file kalman_filter.hpp.

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

• kalman_filter.hpp