Inheritance diagram for KalmanSensorOwn:

Public Member Functions
	KalmanSensorOwn (int _n, int _m)

Public Member Functions inherited from alvar::KalmanSensorEkf
	KalmanSensorEkf (const KalmanSensorEkf &k)

	KalmanSensorEkf (int _n, int _m)

	~KalmanSensorEkf ()

Public Member Functions inherited from alvar::KalmanSensor
	KalmanSensor (const KalmanSensor &k)
	Copy constructor. More...

	KalmanSensor (int n, int _m)
	Constructor. More...

virtual void	update_K (CvMat *P_pred)
	Method for updating the Kalman gain. This is called from predict_update() of Kalman. More...

virtual void	update_P (CvMat P_pred, CvMat P)
	Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman. More...

	~KalmanSensor ()
	Destructor. More...

Public Member Functions inherited from alvar::KalmanSensorCore
int	get_m ()
	Accessor for m. More...

int	get_n ()
	Accessor for n. More...

	KalmanSensorCore (const KalmanSensorCore &k)
	Copy constructor. More...

	KalmanSensorCore (int _n, int _m)
	Constructor. More...

	~KalmanSensorCore ()
	Destructor. More...

Private Member Functions
virtual void	h (CvMat x_pred, CvMat _z_pred)

Additional Inherited Members
Public Attributes inherited from alvar::KalmanSensor
CvMat *	R
	The covariance matrix for the observation noise. More...

Public Attributes inherited from alvar::KalmanSensorCore
CvMat *	H
	The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector. More...

CvMat *	K
	The matrix (nm) containing Kalman gain (something between 0 and H^-1). In this core-implementation we assume this to be precalculated. In KalmanSensor* this is updated using update_K . More...

CvMat *	z
	Latest measurement vector (m*1) More...

Protected Member Functions inherited from alvar::KalmanSensorEkf
virtual void	update_H (CvMat *x_pred)
	Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?). More...

virtual void	update_x (CvMat x_pred, CvMat x)
	Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation. More...

Protected Attributes inherited from alvar::KalmanSensorEkf
CvMat *	delta

CvMat *	x_minus

CvMat *	x_plus

CvMat *	z_tmp1

CvMat *	z_tmp2

Protected Attributes inherited from alvar::KalmanSensor
CvMat *	P_tmp

CvMat *	R_tmp

Protected Attributes inherited from alvar::KalmanSensorCore
CvMat *	H_trans

int	m

int	n

CvMat *	x_gain

CvMat *	z_pred

CvMat *	z_residual