Public Member Functions | Protected Member Functions | Protected Attributes
alvar::KalmanEkf Class Reference

Extended Kalman Filter (EKF) implementation. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanEkf:
Inheritance graph
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List of all members.

Public Member Functions

 KalmanEkf (int _n)
 ~KalmanEkf ()

Protected Member Functions

virtual void f (CvMat *_x, CvMat *_x_pred, double dt)=0
virtual void predict_x (unsigned long tick)
virtual void update_F (unsigned long tick)

Protected Attributes

CvMat * delta
CvMat * x_minus
CvMat * x_plus
CvMat * x_tmp1
CvMat * x_tmp2

Detailed Description

Extended Kalman Filter (EKF) implementation.

Please override the pure virtual f() with the desired unlinear function. By default the upate_F calculates the Jacobian numerically, if you want other approach override also the update_F()

Examples:
SampleFilter.cpp.

Definition at line 247 of file Kalman.h.


Constructor & Destructor Documentation

Definition at line 281 of file Kalman.cpp.

Definition at line 289 of file Kalman.cpp.


Member Function Documentation

virtual void alvar::KalmanEkf::f ( CvMat *  _x,
CvMat *  _x_pred,
double  dt 
) [protected, pure virtual]

Implemented in KalmanOwn.

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

Reimplemented from alvar::KalmanCore.

Definition at line 276 of file Kalman.cpp.

void alvar::KalmanEkf::update_F ( unsigned long  tick) [protected, virtual]

If your transition matrix F is based on time you need to override this method.

Reimplemented from alvar::Kalman.

Definition at line 253 of file Kalman.cpp.


Member Data Documentation

CvMat* alvar::KalmanEkf::delta [protected]

Definition at line 249 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_minus [protected]

Definition at line 251 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_plus [protected]

Definition at line 250 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_tmp1 [protected]

Definition at line 252 of file Kalman.h.

CvMat* alvar::KalmanEkf::x_tmp2 [protected]

Definition at line 253 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