#include <RelativeTrackingModel.hpp>

Inheritance diagram for labust::navigation::RelativeTrackingModel:

Classes
struct	ModelParams
Public Types
enum	{ delta_x = 0, delta_y, delta_z, psi_t, u_t, w_t, r_t, stateNum }
enum	{ d = 0, theta, depth, psi_tm, delta_xm, delta_ym, delta_zm, measSize }
enum	{ x_dot = 0, y_dot, psi, X, Z, N, inputSize }
typedef vector	input_type
typedef vector	output_type
Public Member Functions
double	calculateAltInovationVariance (const matrix &P)
void	calculateUVInovationVariance (const matrix &P, double &uin, double &vin)
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
void	estimate_y (output_type &y)
void	getNEDSpeed (double &xdot, double &ydot)
void	initModel ()
	RelativeTrackingModel ()
void	setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &heave, const ModelParams &roll, const ModelParams &pitch, const ModelParams &yaw)
void	step (const input_type &input)
const output_type &	update (vector &measurements, vector &newMeas)
void	useDvlModel (int flag)
	~RelativeTrackingModel ()
Protected Member Functions
void	derivativeAW ()
void	derivativeH ()
void	derivativeHV (int num)
Protected Attributes
int	dvlModel
ModelParams	heave
matrix	Hnl
output_type	measurement
ModelParams	pitch
ModelParams	roll
ModelParams	surge
ModelParams	sway
double	xdot
vector	y
ModelParams	yaw
double	ydot
vector	ynl
Private Types
typedef SSModel< double >	Base

Detailed Description

This class implements a EKF filter for relative target tracking.

Definition at line 52 of file RelativeTrackingModel.hpp.

Member Typedef Documentation

typedef SSModel<double> labust::navigation::RelativeTrackingModel::Base [private]

Definition at line 54 of file RelativeTrackingModel.hpp.

typedef vector labust::navigation::RelativeTrackingModel::input_type

Definition at line 56 of file RelativeTrackingModel.hpp.

typedef vector labust::navigation::RelativeTrackingModel::output_type

Definition at line 57 of file RelativeTrackingModel.hpp.

Member Enumeration Documentation

anonymous enum

Enumerator:

delta_x
delta_y
delta_z
psi_t
u_t
w_t
r_t
stateNum

Definition at line 77 of file RelativeTrackingModel.hpp.

anonymous enum

Enumerator:

d
theta
depth
psi_tm
delta_xm
delta_ym
delta_zm
measSize

Definition at line 78 of file RelativeTrackingModel.hpp.

anonymous enum

Enumerator:

x_dot
y_dot
psi
X
Z
N
inputSize

Definition at line 79 of file RelativeTrackingModel.hpp.

Constructor & Destructor Documentation

RelativeTrackingModel::RelativeTrackingModel ( )

The default constructor.

Definition at line 46 of file RelativeTrackingModel.cpp.

RelativeTrackingModel::~RelativeTrackingModel ( )

Generic destructor.

Definition at line 54 of file RelativeTrackingModel.cpp.

Member Function Documentation

double labust::navigation::RelativeTrackingModel::calculateAltInovationVariance ( const matrix & P )

void labust::navigation::RelativeTrackingModel::calculateUVInovationVariance	(	const matrix &	P,
		double &	uin,
		double &	vin
	)

void labust::navigation::RelativeTrackingModel::calculateXYInovationVariance	(	const matrix &	P,
		double &	xin,
		double &	yin
	)

void RelativeTrackingModel::derivativeAW ( ) [protected]

Calculate the Jacobian matrices.

Definition at line 109 of file RelativeTrackingModel.cpp.

void RelativeTrackingModel::derivativeH ( ) [protected]

Calculate the nonlinear H derivative.

Definition at line 203 of file RelativeTrackingModel.cpp.

void labust::navigation::RelativeTrackingModel::derivativeHV ( int num ) [protected]

Calculate the Jacobian matrices.

void RelativeTrackingModel::estimate_y ( output_type & y )

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

Definition at line 198 of file RelativeTrackingModel.cpp.

void labust::navigation::RelativeTrackingModel::getNEDSpeed	(	double &	xdot,
		double &	ydot
	)		`[inline]`

Return the speeds in the local frame.

Definition at line 137 of file RelativeTrackingModel.hpp.

void RelativeTrackingModel::initModel ( )

Initialize the model to default values

Definition at line 56 of file RelativeTrackingModel.cpp.

void labust::navigation::RelativeTrackingModel::setParameters	(	const ModelParams &	surge,
		const ModelParams &	sway,
		const ModelParams &	heave,
		const ModelParams &	roll,
		const ModelParams &	pitch,
		const ModelParams &	yaw
	)		`[inline]`