dynamicgraph::sot::Kalman Class Reference

#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< sigtime_t > &	getSignal (const std::string &signalName)
const SignalBase< sigtime_t > &	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 &	logger ()
const Logger &	logger () const
const Logger &	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< sigtime_t > *	test ()
virtual void	test2 (SignalBase< sigtime_t > *)
virtual std::ostream &	writeCompletionList (std::ostream &os) const
virtual std::ostream &	writeGraph (std::ostream &os) const
virtual	~Entity ()

Public Attributes
SignalTimeDependent< Matrix, sigtime_t >	gainSINTERN
SignalTimeDependent< Matrix, sigtime_t >	innovationSINTERN
SignalPtr< Vector, sigtime_t >	measureSIN
SignalPtr< Matrix, sigtime_t >	modelMeasureSIN
SignalPtr< Matrix, sigtime_t >	modelTransitionSIN
SignalPtr< Matrix, sigtime_t >	noiseMeasureSIN
SignalPtr< Matrix, sigtime_t >	noiseTransitionSIN
SignalPtr< Vector, sigtime_t >	observationPredictedSIN
SignalPtr< Vector, sigtime_t >	statePredictedSIN
SignalTimeDependent< Vector, sigtime_t >	stateUpdateSOUT
SignalTimeDependent< Matrix, sigtime_t >	varianceUpdateSOUT

Static Public Attributes
static const std::string	CLASS_NAME

Protected Member Functions
Vector &	computeStateUpdate (Vector &x_est, const sigtime_t &time)
Matrix &	computeVarianceUpdate (Matrix &P_k_k, const sigtime_t &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< sigtime_t > &signals)

Protected Attributes
double	dt
Matrix	FP_
Matrix	K_
Matrix	Pk_k_1_
Matrix	S_
std::size_t	size_measure
std::size_t	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< sigtime_t > * >	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 sigtime_t &  time  )

protected

Definition at line 137 of file kalman.cpp.

computeVarianceUpdate()

Matrix & dynamicgraph::sot::Kalman::computeVarianceUpdate ( Matrix &  P_k_k, const sigtime_t &  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 73 of file kalman.hh.

setStateEstimation()

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

inlineprotected

Definition at line 147 of file kalman.hh.

setStateVariance()

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

inlineprotected

Definition at line 152 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 173 of file kalman.hh.

gainSINTERN

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

Definition at line 69 of file kalman.hh.

innovationSINTERN

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

Definition at line 70 of file kalman.hh.

K_

Matrix dynamicgraph::sot::Kalman::K_

protected

Definition at line 184 of file kalman.hh.

measureSIN

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

Definition at line 57 of file kalman.hh.

modelMeasureSIN

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

Definition at line 59 of file kalman.hh.

modelTransitionSIN

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

Definition at line 58 of file kalman.hh.

noiseMeasureSIN

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

Definition at line 61 of file kalman.hh.

noiseTransitionSIN

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

Definition at line 60 of file kalman.hh.

observationPredictedSIN

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

Definition at line 65 of file kalman.hh.

Pk_k_1_

Matrix dynamicgraph::sot::Kalman::Pk_k_1_

protected

Definition at line 178 of file kalman.hh.

S_

Matrix dynamicgraph::sot::Kalman::S_

protected

Definition at line 181 of file kalman.hh.

size_measure

std::size_t dynamicgraph::sot::Kalman::size_measure

protected

Definition at line 53 of file kalman.hh.

size_state

std::size_t dynamicgraph::sot::Kalman::size_state

protected

Definition at line 52 of file kalman.hh.

stateEstimation_

Vector dynamicgraph::sot::Kalman::stateEstimation_

protected

Definition at line 160 of file kalman.hh.

statePredictedSIN

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

Definition at line 63 of file kalman.hh.

stateUpdateSOUT

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

Definition at line 67 of file kalman.hh.

stateVariance_

Matrix dynamicgraph::sot::Kalman::stateVariance_

protected

Definition at line 164 of file kalman.hh.

varianceUpdateSOUT

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

Definition at line 66 of file kalman.hh.

z_

Vector dynamicgraph::sot::Kalman::z_

protected

Definition at line 169 of file kalman.hh.

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

• kalman.hh
• kalman.cpp