Core implementation for Kalman sensor. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensorCore:

Public Member Functions
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 *	H
	The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector. More...

CvMat *	K
	The matrix (nm) 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 *	H_trans

int	m

int	n

CvMat *	x_gain

CvMat *	z_pred

CvMat *	z_residual

Friends
class	KalmanVisualize

Detailed Description

Core implementation for Kalman sensor.

Definition at line 39 of file Kalman.h.

Constructor & Destructor Documentation

alvar::KalmanSensorCore::KalmanSensorCore ( const KalmanSensorCore & k )

Copy constructor.

Definition at line 35 of file Kalman.cpp.

alvar::KalmanSensorCore::KalmanSensorCore	(	int	_n,
		int	_m
	)

Constructor.

Parameters

_n	The number of items in the Kalman state vector
_m	The number of measurements given by this sensor

Definition at line 47 of file Kalman.cpp.

alvar::KalmanSensorCore::~KalmanSensorCore ( )

Destructor.

Definition at line 59 of file Kalman.cpp.

Member Function Documentation

int alvar::KalmanSensorCore::get_m ( )

inline

Accessor for m.

Definition at line 70 of file Kalman.h.

int alvar::KalmanSensorCore::get_n ( )

inline

Accessor for n.

Definition at line 68 of file Kalman.h.

void alvar::KalmanSensorCore::update_x	(	CvMat *	x_pred,
		CvMat *	x
	)

virtual

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.

Reimplemented in alvar::KalmanSensorEkf.

Definition at line 69 of file Kalman.cpp.

Friends And Related Function Documentation

friend class KalmanVisualize

friend

Definition at line 40 of file Kalman.h.

Member Data Documentation

CvMat* alvar::KalmanSensorCore::H

The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector.

Examples:: SampleFilter.cpp.

Definition at line 52 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::H_trans

protected

Definition at line 44 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::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 .

Definition at line 56 of file Kalman.h.

int alvar::KalmanSensorCore::m

protected

Definition at line 43 of file Kalman.h.

int alvar::KalmanSensorCore::n

protected

Definition at line 42 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::x_gain

protected

Definition at line 47 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::z

Latest measurement vector (m*1)

Examples:: SampleFilter.cpp.

Definition at line 50 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::z_pred

protected

Definition at line 45 of file Kalman.h.

CvMat* alvar::KalmanSensorCore::z_residual

protected

Definition at line 46 of file Kalman.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation