Inheritance diagram for KalmanOwn:

Public Member Functions
	KalmanOwn (int _n)

Public Member Functions inherited from alvar::KalmanEkf
	KalmanEkf (int _n)

	~KalmanEkf ()

Public Member Functions inherited from alvar::Kalman
	Kalman (int _n)
	Constructor. More...

CvMat *	predict (unsigned long tick)
	Predict the Kalman state vector for the given time step This calls updateF for updating the transition matrix based on the real time step. More...

CvMat *	predict_update (KalmanSensor *sensor, unsigned long tick)
	Predict the Kalman state vector for the given time step and update the state using the Kalman gain. More...

double	seconds_since_update (unsigned long tick)
	Helper method. More...

	~Kalman ()
	Destructor. More...

Public Member Functions inherited from alvar::KalmanCore
int	get_n ()
	Accessor for n. More...

	KalmanCore (const KalmanCore &s)
	Copy constructor. More...

	KalmanCore (int _n)
	Constructor. More...

virtual CvMat *	predict ()
	Predict the Kalman state vector for the given time step . x_pred = F * x. More...

CvMat *	predict_update (KalmanSensorCore *sensor)
	Predict the Kalman state vector and update the state using the constant Kalman gain. x = x_pred + K* ( z - H*x_pred) More...

	~KalmanCore ()
	Destructor. More...

Private Member Functions
virtual void	f (CvMat _x, CvMat _x_pred, double dt)

Additional Inherited Members
Public Attributes inherited from alvar::Kalman
CvMat *	P
	The error covariance matrix describing the accuracy of the state estimate. More...

CvMat *	P_pred
	The predicted error covariance matrix. More...

CvMat *	Q
	The covariance matrix for the process noise. More...

Public Attributes inherited from alvar::KalmanCore
CvMat *	F
	The matrix (n*n) containing the transition model for the internal state. More...

CvMat *	x
	The Kalman state vector (n*1) More...

CvMat *	x_pred
	Predicted state, TODO: should be protected?! More...

Protected Member Functions inherited from alvar::KalmanEkf
virtual void	predict_x (unsigned long tick)

virtual void	update_F (unsigned long tick)

Protected Member Functions inherited from alvar::Kalman
void	predict_P ()

Protected Attributes inherited from alvar::KalmanEkf
CvMat *	delta

CvMat *	x_minus

CvMat *	x_plus

CvMat *	x_tmp1

CvMat *	x_tmp2

Protected Attributes inherited from alvar::Kalman
int	prev_tick

Protected Attributes inherited from alvar::KalmanCore
CvMat *	F_trans

int	n