Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | Friends
alvar::KalmanCore Class Reference

Core implementation for Kalman. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanCore:
Inheritance graph
[legend]

List of all members.

Public Member Functions

int get_n ()
 Accessor for n.
 KalmanCore (const KalmanCore &s)
 Copy constructor.
 KalmanCore (int _n)
 Constructor.
virtual CvMat * predict ()
 Predict the Kalman state vector for the given time step . x_pred = F * x.
CvMat * predict_update (KalmanSensorCore *sensor)
 Predict the Kalman state vector and update the state using the constant Kalman gain. x = x_pred + K* ( z - H*x_pred)
 ~KalmanCore ()
 Destructor.

Public Attributes

CvMat * F
 The matrix (n*n) containing the transition model for the internal state.
CvMat * x
 The Kalman state vector (n*1)
CvMat * x_pred
 Predicted state, TODO: should be protected?!

Protected Member Functions

virtual void predict_x (unsigned long tick)

Protected Attributes

CvMat * F_trans
int n

Friends

class KalmanVisualize

Detailed Description

Core implementation for Kalman.

Definition at line 80 of file Kalman.h.


Constructor & Destructor Documentation

Copy constructor.

Definition at line 82 of file Kalman.cpp.

Constructor.

Parameters:
_nThe number of items in the Kalman state vector

Definition at line 90 of file Kalman.cpp.

Destructor.

Definition at line 98 of file Kalman.cpp.


Member Function Documentation

int alvar::KalmanCore::get_n ( ) [inline]

Accessor for n.

Definition at line 102 of file Kalman.h.

CvMat * alvar::KalmanCore::predict ( ) [virtual]

Predict the Kalman state vector for the given time step . x_pred = F * x.

Definition at line 105 of file Kalman.cpp.

Predict the Kalman state vector and update the state using the constant Kalman gain. x = x_pred + K* ( z - H*x_pred)

Definition at line 110 of file Kalman.cpp.

void alvar::KalmanCore::predict_x ( unsigned long  tick) [protected, virtual]

Reimplemented in alvar::KalmanEkf.

Definition at line 77 of file Kalman.cpp.


Friends And Related Function Documentation

friend class KalmanVisualize [friend]

Definition at line 81 of file Kalman.h.


Member Data Documentation

The matrix (n*n) containing the transition model for the internal state.

Definition at line 91 of file Kalman.h.

CvMat* alvar::KalmanCore::F_trans [protected]

Definition at line 85 of file Kalman.h.

int alvar::KalmanCore::n [protected]

Definition at line 83 of file Kalman.h.

The Kalman state vector (n*1)

Definition at line 89 of file Kalman.h.

Predicted state, TODO: should be protected?!

Definition at line 113 of file Kalman.h.


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


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Thu Feb 16 2017 03:23:02