Estimator specialized in estimating the position of a target. The estimator uses a Kalman filter with constant velocity process model. If no updates are received for a given amount of time, the PositionFilter replaces the Kalman filter output by a predefined Gaussian distribution over the current state of the filter (to avoid unrealistic propagation of the state). More...

#include <PositionFilter.h>

Inheritance diagram for PositionFilter:

[legend]

List of all members.

Public Member Functions
virtual PositionFilter *	clone () const
const pbl::PDF &	getValue () const
	Returns the current estimated state value.
	PositionFilter ()
	PositionFilter (const PositionFilter &orig)
virtual void	propagate (const mhf::Time &time)
	Propagates the internal state to Time time.
virtual void	reset ()
	Resets the internal state of the estimator to its initial value.
bool	setParameter (const std::string &param, bool b)
	Set a boolean parameter of this state estimator.
bool	setParameter (const std::string &param, double v)
	Set a real-valued parameter of this state estimator.
void	setValue (const pbl::PDF &pdf)
void	update (const pbl::PDF &z, const mhf::Time &time)
	Updates the internal state based on measurement z.
virtual	~PositionFilter ()
Protected Attributes
pbl::Gaussian *	fixed_pdf_
double	fixed_pdf_cov_
KalmanFilter *	kalman_filter_
double	kalman_timeout_
double	max_acceleration_
mhf::Time	t_last_propagation_
mhf::Time	t_last_update_

Detailed Description

Estimator specialized in estimating the position of a target. The estimator uses a Kalman filter with constant velocity process model. If no updates are received for a given amount of time, the PositionFilter replaces the Kalman filter output by a predefined Gaussian distribution over the current state of the filter (to avoid unrealistic propagation of the state).

Definition at line 52 of file PositionFilter.h.

Constructor & Destructor Documentation

PositionFilter::PositionFilter ( )

Definition at line 40 of file PositionFilter.cpp.

PositionFilter::PositionFilter ( const PositionFilter & orig )

Definition at line 44 of file PositionFilter.cpp.

PositionFilter::~PositionFilter ( ) [virtual]

Definition at line 57 of file PositionFilter.cpp.

Member Function Documentation

PositionFilter * PositionFilter::clone ( ) const [virtual]

Implements mhf::IStateEstimator.

Definition at line 62 of file PositionFilter.cpp.

const pbl::PDF & PositionFilter::getValue ( ) const [virtual]

Returns the current estimated state value.

Returns:: The current state, i.e., the current attribute value represented as probability density function

Implements mhf::IStateEstimator.

Definition at line 137 of file PositionFilter.cpp.

void PositionFilter::propagate ( const mhf::Time & time ) [virtual]

Propagates the internal state to Time time.

Parameters:

time	The time to which the internal state is propagated

Implements mhf::IStateEstimator.

Definition at line 66 of file PositionFilter.cpp.

void PositionFilter::reset ( ) [virtual]

Resets the internal state of the estimator to its initial value.

Implements mhf::IStateEstimator.

Definition at line 129 of file PositionFilter.cpp.

bool PositionFilter::setParameter	(	const std::string &	param,
		bool	b
	)		`[virtual]`

Set a boolean parameter of this state estimator.

Parameters:

param	The parameter name
b	The boolean value

Returns:: Returns true if the parameter was known to the estimator; false otherwise

Reimplemented from mhf::IStateEstimator.

Definition at line 147 of file PositionFilter.cpp.

bool PositionFilter::setParameter	(	const std::string &	param,
		double	v
	)		`[virtual]`

Set a real-valued parameter of this state estimator.

Parameters:

param	The parameter name
v	The float value

Returns:: Returns true if the parameter was known to the estimator; false otherwise

Reimplemented from mhf::IStateEstimator.

Definition at line 151 of file PositionFilter.cpp.

void PositionFilter::setValue ( const pbl::PDF & pdf )

void PositionFilter::update	(	const pbl::PDF &	z,
		const mhf::Time &	time
	)		`[virtual]`

Updates the internal state based on measurement z.

Parameters:

z	The measurement with which to update, represented as a probability density function
time	The time to which the internal state is propagated before updating

Implements mhf::IStateEstimator.

Definition at line 111 of file PositionFilter.cpp.