#include <tracker_kalman.h>

Inheritance diagram for estimation::TrackerKalman:

Public Member Functions
virtual void	getEstimate (BFL::StatePosVel &est) const
	get filter posterior More...

virtual void	getEstimate (people_msgs::PositionMeasurement &est) const

virtual double	getLifetime () const
	return the lifetime of the tracker More...

virtual double	getQuality () const
	return measure for tracker quality: 0=bad 1=good More...

virtual double	getTime () const
	return the time of the tracker More...

virtual void	initialize (const BFL::StatePosVel &mu, const BFL::StatePosVel &sigma, const double time)
	initialize tracker More...

virtual bool	isInitialized () const
	return if tracker was initialized More...

	TrackerKalman (const std::string &name, const BFL::StatePosVel &sysnoise)
	constructor More...

virtual bool	updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov)

virtual bool	updatePrediction (const double time)
	update tracker More...

virtual	~TrackerKalman ()
	destructor More...

Public Member Functions inherited from estimation::Tracker
const std::string &	getName () const
	return the name of the tracker More...

	Tracker (const std::string &name)
	constructor More...

virtual	~Tracker ()
	destructor More...

Private Member Functions
double	calculateQuality ()

Private Attributes
BFL::ExtendedKalmanFilter *	filter_

double	filter_time_

double	init_time_

BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	meas_model_

BFL::LinearAnalyticConditionalGaussian *	meas_pdf_

BFL::Gaussian	prior_

double	quality_

MatrixWrapper::Matrix	sys_matrix_

BFL::LinearAnalyticSystemModelGaussianUncertainty *	sys_model_

BFL::LinearAnalyticConditionalGaussian *	sys_pdf_

MatrixWrapper::SymmetricMatrix	sys_sigma_

bool	tracker_initialized_

Detailed Description

Definition at line 61 of file tracker_kalman.h.

Constructor & Destructor Documentation

estimation::TrackerKalman::TrackerKalman	(	const std::string &	name,
		const BFL::StatePosVel &	sysnoise
	)

constructor

Definition at line 51 of file tracker_kalman.cpp.

estimation::TrackerKalman::~TrackerKalman ( )

virtual

destructor

Definition at line 99 of file tracker_kalman.cpp.

Member Function Documentation

double estimation::TrackerKalman::calculateQuality ( )

private

Definition at line 197 of file tracker_kalman.cpp.

void estimation::TrackerKalman::getEstimate ( BFL::StatePosVel & est ) const

virtual

get filter posterior

Implements estimation::Tracker.

Definition at line 175 of file tracker_kalman.cpp.

void estimation::TrackerKalman::getEstimate ( people_msgs::PositionMeasurement & est ) const

virtual

Implements estimation::Tracker.

Definition at line 185 of file tracker_kalman.cpp.

double estimation::TrackerKalman::getLifetime ( ) const

virtual

return the lifetime of the tracker

Implements estimation::Tracker.

Definition at line 207 of file tracker_kalman.cpp.

virtual double estimation::TrackerKalman::getQuality ( ) const

inlinevirtual

return measure for tracker quality: 0=bad 1=good

Implements estimation::Tracker.

Definition at line 80 of file tracker_kalman.h.

double estimation::TrackerKalman::getTime ( ) const

virtual

return the time of the tracker

Implements estimation::Tracker.

Definition at line 215 of file tracker_kalman.cpp.

void estimation::TrackerKalman::initialize	(	const BFL::StatePosVel &	mu,
		const BFL::StatePosVel &	sigma,
		const double	time
	)

virtual

initialize tracker

Implements estimation::Tracker.

Definition at line 109 of file tracker_kalman.cpp.

virtual bool estimation::TrackerKalman::isInitialized ( ) const

inlinevirtual

return if tracker was initialized

Implements estimation::Tracker.

Definition at line 74 of file tracker_kalman.h.

bool estimation::TrackerKalman::updateCorrection	(	const tf::Vector3 &	meas,
		const MatrixWrapper::SymmetricMatrix &	cov
	)

virtual

Implements estimation::Tracker.

Definition at line 155 of file tracker_kalman.cpp.

bool estimation::TrackerKalman::updatePrediction ( const double time )

virtual

update tracker

Implements estimation::Tracker.

Definition at line 132 of file tracker_kalman.cpp.

Member Data Documentation

BFL::ExtendedKalmanFilter* estimation::TrackerKalman::filter_

private

Definition at line 103 of file tracker_kalman.h.

double estimation::TrackerKalman::filter_time_

private

Definition at line 115 of file tracker_kalman.h.

double estimation::TrackerKalman::init_time_

private

Definition at line 115 of file tracker_kalman.h.

BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::TrackerKalman::meas_model_

private

Definition at line 107 of file tracker_kalman.h.

BFL::LinearAnalyticConditionalGaussian* estimation::TrackerKalman::meas_pdf_

private

Definition at line 106 of file tracker_kalman.h.

BFL::Gaussian estimation::TrackerKalman::prior_

private

Definition at line 102 of file tracker_kalman.h.

double estimation::TrackerKalman::quality_

private

Definition at line 115 of file tracker_kalman.h.

MatrixWrapper::Matrix estimation::TrackerKalman::sys_matrix_

private

Definition at line 108 of file tracker_kalman.h.

BFL::LinearAnalyticSystemModelGaussianUncertainty* estimation::TrackerKalman::sys_model_

private

Definition at line 105 of file tracker_kalman.h.

BFL::LinearAnalyticConditionalGaussian* estimation::TrackerKalman::sys_pdf_

private

Definition at line 104 of file tracker_kalman.h.

MatrixWrapper::SymmetricMatrix estimation::TrackerKalman::sys_sigma_

private

Definition at line 109 of file tracker_kalman.h.

bool estimation::TrackerKalman::tracker_initialized_

private

Definition at line 114 of file tracker_kalman.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation