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

Core implementation for Kalman sensor. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensorCore:
Inheritance graph
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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 (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 * 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
_nThe number of items in the Kalman state vector
_mThe 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:


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