Public Member Functions | Public Attributes | Protected Attributes | List of all members
alvar::KalmanSensor Class Reference

Kalman sensor implementation. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensor:
Inheritance graph
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Public Member Functions

 KalmanSensor (const KalmanSensor &k)
 Copy constructor. More...
 
 KalmanSensor (int n, int _m)
 Constructor. More...
 
virtual void update_H (CvMat *x_pred)
 Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?). More...
 
virtual void update_K (CvMat *P_pred)
 Method for updating the Kalman gain. This is called from predict_update() of Kalman. More...
 
virtual void update_P (CvMat *P_pred, CvMat *P)
 Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman. More...
 
 ~KalmanSensor ()
 Destructor. More...
 
- Public Member Functions inherited from alvar::KalmanSensorCore
int get_m ()
 Accessor for m. More...
 
int get_n ()
 Accessor for n. More...
 
 KalmanSensorCore (const KalmanSensorCore &k)
 Copy constructor. More...
 
 KalmanSensorCore (int _n, int _m)
 Constructor. More...
 
virtual void update_x (CvMat *x_pred, CvMat *x)
 Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation. More...
 
 ~KalmanSensorCore ()
 Destructor. More...
 

Public Attributes

CvMat * R
 The covariance matrix for the observation noise. More...
 
- Public Attributes inherited from alvar::KalmanSensorCore
CvMat * H
 The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector. More...
 
CvMat * K
 The matrix (n*m) containing Kalman gain (something between 0 and H^-1). In this core-implementation we assume this to be precalculated. In KalmanSensor this is updated using update_K . More...
 
CvMat * z
 Latest measurement vector (m*1) More...
 

Protected Attributes

CvMat * P_tmp
 
CvMat * R_tmp
 
- Protected Attributes inherited from alvar::KalmanSensorCore
CvMat * H_trans
 
int m
 
int n
 
CvMat * x_gain
 
CvMat * z_pred
 
CvMat * z_residual
 

Detailed Description

Kalman sensor implementation.

Examples:
SampleFilter.cpp.

Definition at line 118 of file Kalman.h.

Constructor & Destructor Documentation

alvar::KalmanSensor::KalmanSensor ( const KalmanSensor k)

Copy constructor.

Definition at line 116 of file Kalman.cpp.

alvar::KalmanSensor::KalmanSensor ( int  n,
int  _m 
)

Constructor.

Parameters
_nThe number of items in the Kalman state vector
_mThe number of measurements given by this sensor

Definition at line 122 of file Kalman.cpp.

alvar::KalmanSensor::~KalmanSensor ( )

Destructor.

Definition at line 128 of file Kalman.cpp.

Member Function Documentation

virtual void alvar::KalmanSensor::update_H ( CvMat *  x_pred)
inlinevirtual

Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).

Reimplemented in alvar::KalmanSensorEkf.

Definition at line 139 of file Kalman.h.

void alvar::KalmanSensor::update_K ( CvMat *  P_pred)
virtual

Method for updating the Kalman gain. This is called from predict_update() of Kalman.

Definition at line 134 of file Kalman.cpp.

void alvar::KalmanSensor::update_P ( CvMat *  P_pred,
CvMat *  P 
)
virtual

Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman.

Definition at line 145 of file Kalman.cpp.

Member Data Documentation

CvMat* alvar::KalmanSensor::P_tmp
protected

Definition at line 121 of file Kalman.h.

CvMat* alvar::KalmanSensor::R

The covariance matrix for the observation noise.

Examples:
SampleFilter.cpp.

Definition at line 124 of file Kalman.h.

CvMat* alvar::KalmanSensor::R_tmp
protected

Definition at line 120 of file Kalman.h.


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


ar_track_alvar
Author(s): Scott Niekum
autogenerated on Mon Jun 10 2019 12:47:04