alvar::KalmanCore Class Reference

Core implementation for Kalman. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanCore:

Public Member Functions
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...

Public Attributes
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
virtual void	predict_x (unsigned long tick)

Protected Attributes
CvMat *	F_trans
int	n

Friends
class	KalmanVisualize

Detailed Description

Core implementation for Kalman.

Definition at line 80 of file Kalman.h.

Constructor & Destructor Documentation

alvar::KalmanCore::KalmanCore

(

const KalmanCore &

s

)

Copy constructor.

Definition at line 82 of file Kalman.cpp.

alvar::KalmanCore::KalmanCore

(

int

_n

)

Constructor.

Parameters

_n	The number of items in the Kalman state vector

Definition at line 90 of file Kalman.cpp.

alvar::KalmanCore::~KalmanCore

(

)

Destructor.

Definition at line 98 of file Kalman.cpp.

Member Function Documentation

int alvar::KalmanCore::get_n ( )

inline

Accessor for n.

Definition at line 102 of file Kalman.h.

CvMat * alvar::KalmanCore::predict ( )

virtual

Predict the Kalman state vector for the given time step . x_pred = F * x.

Definition at line 105 of file Kalman.cpp.

CvMat * alvar::KalmanCore::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)

Definition at line 110 of file Kalman.cpp.

void alvar::KalmanCore::predict_x ( unsigned long  tick )

protectedvirtual

Reimplemented in alvar::KalmanEkf.

Definition at line 77 of file Kalman.cpp.

Friends And Related Function Documentation

friend class KalmanVisualize

friend

Definition at line 81 of file Kalman.h.

Member Data Documentation

CvMat* alvar::KalmanCore::F

The matrix (n*n) containing the transition model for the internal state.

Examples:

SampleFilter.cpp.

Definition at line 91 of file Kalman.h.

CvMat* alvar::KalmanCore::F_trans

protected

Definition at line 85 of file Kalman.h.

int alvar::KalmanCore::n

protected

Definition at line 83 of file Kalman.h.

CvMat* alvar::KalmanCore::x

The Kalman state vector (n*1)

Examples:

SampleFilter.cpp.

Definition at line 89 of file Kalman.h.

CvMat* alvar::KalmanCore::x_pred

Predicted state, TODO: should be protected?!

Definition at line 113 of file Kalman.h.

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

• Kalman.h
• Kalman.cpp