#include <nonminimalkalmanfilter.h>

Inheritance diagram for BFL::NonminimalKalmanFilter:

Public Member Functions
virtual void	MeasUpdate (MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
	NonminimalKalmanFilter (Gaussian prior, unsigned int NrIterations, vector< NLSysModel > minimalsysmodels, vector< NLMeasModel * > minimalmeasmodels, vector< GiNaC::symbol > nonlinearstate=*(new vector< GiNaC::symbol >))
virtual void	SysUpdate (SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u)
virtual	~NonminimalKalmanFilter ()
	Destructor.
Private Attributes
Linearise *	Linear
IteratedExtendedKalmanFilter *	MinimalFilter
NLMeasModel *	MinimalMeasModel
Gaussian *	MinimalPrior
vector< GiNaC::symbol >	MinimalState
IteratedExtendedKalmanFilter *	NonminimalFilter
Gaussian *	NonminimalPrior
vector< GiNaC::symbol >	NonminimalState

Detailed Description

This is a class implementing the Kalman Filter (KF) class for Non Minimal State Kalman Filters.

The System- and MeasurementUpdate equasions are not linear. Substituting the state by a non-minimal state will make the System- and MeasurementUpdate linear in the non-minimal state

See also:: KalmanFilter

Todo:: Seriously reimplement this class!

Definition at line 47 of file nonminimalkalmanfilter.h.

Constructor & Destructor Documentation

BFL::NonminimalKalmanFilter::NonminimalKalmanFilter	(	Gaussian *	prior,
		unsigned int	NrIterations,
		vector< NLSysModel * >	minimalsysmodels,
		vector< NLMeasModel * >	minimalmeasmodels,
		vector< GiNaC::symbol >	nonlinearstate = `*(new vector<GiNaC::symbol>)`
	)

Constructor

Precondition:: you created the prior

Parameters:

prior	pointer to the Gaussian prior density
NrIterations	Number of iterations that will be used (this class uses 2 IEKF: one for the minimal state and one for the nonminimal state)
minimalsysmodels	vector of measurement models that can be used for measurement updates
minimalmeasmodels	vector of system models that can be used for system updates
nonlinearstate	symbols of state in wich the filter should be linearised

Definition at line 30 of file nonminimalkalmanfilter.cpp.

BFL::NonminimalKalmanFilter::~NonminimalKalmanFilter ( ) [virtual]

Destructor.

Definition at line 71 of file nonminimalkalmanfilter.cpp.

Member Function Documentation

void BFL::NonminimalKalmanFilter::MeasUpdate	(	MeasurementModel< ColumnVector, ColumnVector > *const	measmodel,
		const ColumnVector &	z,
		const ColumnVector &	s
	)		`[virtual]`