Kalman sensor implementation. More...
#include <Kalman.h>
Public Member Functions | |
| KalmanSensor (const KalmanSensor &k) | |
| Copy constructor. More... | |
| KalmanSensor (int n, int _m) | |
| Constructor. More... | |
| 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_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... | |
| 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... | |
| ~KalmanSensorCore () | |
| Destructor. More... | |
Public Attributes | |
| 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 (n*m) 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 Attributes | |
| 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 |
Detailed Description
Constructor & Destructor Documentation
| alvar::KalmanSensor::KalmanSensor | ( | const KalmanSensor & | k | ) |
Copy constructor.
Definition at line 116 of file Kalman.cpp.
| alvar::KalmanSensor::KalmanSensor | ( | int | n, |
| int | _m | ||
| ) |
Constructor.
- Parameters
-
_n The number of items in the Kalman state vector _m The number of measurements given by this sensor
Definition at line 122 of file Kalman.cpp.
| alvar::KalmanSensor::~KalmanSensor | ( | ) |
Destructor.
Definition at line 128 of file Kalman.cpp.
Member Function Documentation
|
inlinevirtual |
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?).
Reimplemented in alvar::KalmanSensorEkf.
|
virtual |
Method for updating the Kalman gain. This is called from predict_update() of Kalman.
Definition at line 134 of file Kalman.cpp.
|
virtual |
Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman.
Definition at line 145 of file Kalman.cpp.
Member Data Documentation
| CvMat* alvar::KalmanSensor::R |
The covariance matrix for the observation noise.
- Examples:
- SampleFilter.cpp.
The documentation for this class was generated from the following files: