#include <kalman.hh>

Inheritance diagram for dynamicgraph::sot::Kalman:

Public Member Functions
void	display (std::ostream &os) const

virtual const std::string &	getClassName (void) const

virtual std::string	getDocString () const

	Kalman (const std::string &name)

Public Member Functions inherited from dynamicgraph::Entity
std::ostream &	displaySignalList (std::ostream &os) const

	Entity (const std::string &name)

const std::string &	getCommandList () const

LoggerVerbosity	getLoggerVerbosityLevel ()

LoggerVerbosity	getLoggerVerbosityLevel ()

const std::string &	getName () const

command::Command *	getNewStyleCommand (const std::string &cmdName)

CommandMap_t	getNewStyleCommandMap ()

SignalBase< int > &	getSignal (const std::string &signalName)

const SignalBase< int > &	getSignal (const std::string &signalName) const

SignalMap	getSignalMap () const

double	getStreamPrintPeriod ()

double	getStreamPrintPeriod ()

double	getTimeSample ()

double	getTimeSample ()

bool	hasSignal (const std::string &signame) const

Logger &	logger ()

Logger const &	logger () const

Logger &	logger ()

Logger const &	logger () const

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const std::string &lineId="")

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

void	setLoggerVerbosityLevel (LoggerVerbosity lv)

bool	setStreamPrintPeriod (double t)

bool	setStreamPrintPeriod (double t)

bool	setTimeSample (double t)

bool	setTimeSample (double t)

virtual SignalBase< int > *	test ()

virtual void	test2 (SignalBase< int > *)

virtual std::ostream &	writeCompletionList (std::ostream &os) const

virtual std::ostream &	writeGraph (std::ostream &os) const

virtual	~Entity ()

Public Attributes
SignalTimeDependent< Matrix, int >	gainSINTERN

SignalTimeDependent< Matrix, int >	innovationSINTERN

SignalPtr< Vector, int >	measureSIN

SignalPtr< Matrix, int >	modelMeasureSIN

SignalPtr< Matrix, int >	modelTransitionSIN

SignalPtr< Matrix, int >	noiseMeasureSIN

SignalPtr< Matrix, int >	noiseTransitionSIN

SignalPtr< Vector, int >	observationPredictedSIN

SignalPtr< Vector, int >	statePredictedSIN

SignalTimeDependent< Vector, int >	stateUpdateSOUT

SignalTimeDependent< Matrix, int >	varianceUpdateSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Protected Member Functions
Vector &	computeStateUpdate (Vector &x_est, const int &time)

Matrix &	computeVarianceUpdate (Matrix &P_k_k, const int &time)

void	setStateEstimation (const Vector &x0)

void	setStateVariance (const Matrix &P0)

Protected Member Functions inherited from dynamicgraph::Entity
void	addCommand (const std::string &name, command::Command *command)

void	entityDeregistration ()

void	entityRegistration ()

void	signalDeregistration (const std::string &name)

void	signalRegistration (const SignalArray< int > &signals)

Protected Attributes
double	dt

Matrix	FP_

Matrix	K_

Matrix	Pk_k_1_

Matrix	S_

unsigned int	size_measure

unsigned int	size_state

Vector	stateEstimation_

Matrix	stateVariance_

Vector	z_

Protected Attributes inherited from dynamicgraph::Entity
CommandMap_t	commandMap

Logger	logger_

std::string	name

SignalMap	signalMap

Additional Inherited Members
Public Types inherited from dynamicgraph::Entity
typedef std::map< const std::string, command::Command *>	CommandMap_t

typedef std::map< std::string, SignalBase< int > *>	SignalMap

Detailed Description

Definition at line 46 of file kalman.hh.

Constructor & Destructor Documentation

◆ Kalman()

dynamicgraph::sot::Kalman::Kalman ( const std::string & name )

Definition at line 27 of file kalman.cpp.

Member Function Documentation

◆ computeStateUpdate()

Vector & dynamicgraph::sot::Kalman::computeStateUpdate	(	Vector &	x_est,
		const int &	time
	)

protected

Definition at line 137 of file kalman.cpp.

◆ computeVarianceUpdate()

Matrix & dynamicgraph::sot::Kalman::computeVarianceUpdate	(	Matrix &	P_k_k,
		const int &	time
	)

protected

Definition at line 73 of file kalman.cpp.

◆ display()

void dynamicgraph::sot::Kalman::display ( std::ostream & os ) const

virtual

Reimplemented from dynamicgraph::Entity.

Definition at line 179 of file kalman.cpp.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::Kalman::getClassName ( void ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 49 of file kalman.hh.

◆ getDocString()

virtual std::string dynamicgraph::sot::Kalman::getDocString ( ) const

inlinevirtual

Reimplemented from dynamicgraph::Entity.

Definition at line 72 of file kalman.hh.

◆ setStateEstimation()

void dynamicgraph::sot::Kalman::setStateEstimation ( const Vector & x0 )

inlineprotected

Definition at line 146 of file kalman.hh.

◆ setStateVariance()

void dynamicgraph::sot::Kalman::setStateVariance ( const Matrix & P0 )

inlineprotected

Definition at line 151 of file kalman.hh.

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::Kalman::CLASS_NAME

static

Definition at line 48 of file kalman.hh.

◆ dt

double dynamicgraph::sot::Kalman::dt

protected

Definition at line 54 of file kalman.hh.

◆ FP_

Matrix dynamicgraph::sot::Kalman::FP_

protected

Definition at line 172 of file kalman.hh.

◆ gainSINTERN

SignalTimeDependent<Matrix, int> dynamicgraph::sot::Kalman::gainSINTERN

Definition at line 68 of file kalman.hh.

◆ innovationSINTERN

SignalTimeDependent<Matrix, int> dynamicgraph::sot::Kalman::innovationSINTERN

Definition at line 69 of file kalman.hh.

◆ K_

Matrix dynamicgraph::sot::Kalman::K_

protected

Definition at line 183 of file kalman.hh.

◆ measureSIN

SignalPtr<Vector, int> dynamicgraph::sot::Kalman::measureSIN

Definition at line 57 of file kalman.hh.

◆ modelMeasureSIN

SignalPtr<Matrix, int> dynamicgraph::sot::Kalman::modelMeasureSIN

Definition at line 59 of file kalman.hh.

◆ modelTransitionSIN

SignalPtr<Matrix, int> dynamicgraph::sot::Kalman::modelTransitionSIN

Definition at line 58 of file kalman.hh.

◆ noiseMeasureSIN

SignalPtr<Matrix, int> dynamicgraph::sot::Kalman::noiseMeasureSIN

Definition at line 61 of file kalman.hh.

◆ noiseTransitionSIN

SignalPtr<Matrix, int> dynamicgraph::sot::Kalman::noiseTransitionSIN

Definition at line 60 of file kalman.hh.

◆ observationPredictedSIN

SignalPtr<Vector, int> dynamicgraph::sot::Kalman::observationPredictedSIN

Definition at line 64 of file kalman.hh.

◆ Pk_k_1_

Matrix dynamicgraph::sot::Kalman::Pk_k_1_

protected

Definition at line 177 of file kalman.hh.

◆ S_

Matrix dynamicgraph::sot::Kalman::S_

protected

Definition at line 180 of file kalman.hh.

◆ size_measure

unsigned int dynamicgraph::sot::Kalman::size_measure

protected

Definition at line 53 of file kalman.hh.

◆ size_state

unsigned int dynamicgraph::sot::Kalman::size_state

protected

Definition at line 52 of file kalman.hh.

◆ stateEstimation_

Vector dynamicgraph::sot::Kalman::stateEstimation_

protected

Definition at line 159 of file kalman.hh.

◆ statePredictedSIN

SignalPtr<Vector, int> dynamicgraph::sot::Kalman::statePredictedSIN

Definition at line 63 of file kalman.hh.

◆ stateUpdateSOUT

SignalTimeDependent<Vector, int> dynamicgraph::sot::Kalman::stateUpdateSOUT

Definition at line 66 of file kalman.hh.

◆ stateVariance_

Matrix dynamicgraph::sot::Kalman::stateVariance_

protected

Definition at line 163 of file kalman.hh.

◆ varianceUpdateSOUT

SignalTimeDependent<Matrix, int> dynamicgraph::sot::Kalman::varianceUpdateSOUT

Definition at line 65 of file kalman.hh.

◆ z_

Vector dynamicgraph::sot::Kalman::z_

protected

Definition at line 168 of file kalman.hh.

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

Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Kalman()

Member Function Documentation

◆ computeStateUpdate()

◆ computeVarianceUpdate()

◆ display()

◆ getClassName()

◆ getDocString()

◆ setStateEstimation()

◆ setStateVariance()

Member Data Documentation

◆ CLASS_NAME

◆ dt

◆ FP_

◆ gainSINTERN

◆ innovationSINTERN

◆ K_

◆ measureSIN

◆ modelMeasureSIN

◆ modelTransitionSIN

◆ noiseMeasureSIN

◆ noiseTransitionSIN

◆ observationPredictedSIN

◆ Pk_k_1_

◆ S_

◆ size_measure

◆ size_state

◆ stateEstimation_

◆ statePredictedSIN

◆ stateUpdateSOUT

◆ stateVariance_

◆ varianceUpdateSOUT

◆ z_