alvar::KalmanVisualize Class Reference

Class for visualizing Kalman filter. More...

#include <Kalman.h>

Public Member Functions
	KalmanVisualize (Kalman *_kalman, KalmanSensor *_sensor)
	Constructor for full Kalman implementation. More...
	KalmanVisualize (KalmanCore *_kalman, KalmanSensorCore *_sensor)
	Constructor for core Kalman implementation (not all visualizations possible) More...
void	show ()
	Show the genrated visualization image. More...
void	update_post ()
	Update the visualization image - call this after the Kalman's predict_update. More...
void	update_pre ()
	Update the visualization image - call this before the Kalman's predict_update. More...
	~KalmanVisualize ()
	Destructor. More...

Static Public Member Functions
static void	out_matrix (CvMat *m, char *name)
	Helper method for outputting matrices (for debug purposes) More...

Private Member Functions
void	img_matrix (CvMat *mat, int top, int left)
	Add matrix to the image. More...
void	Init ()
	Init everything. Called from constructors. More...

Private Attributes
IplImage *	img
	Image collecting visualization of the Kalman filter. More...
IplImage *	img_legend
	Image to show. More...
int	img_scale
	visualization scale before show More...
IplImage *	img_show
	Image to show. More...
KalmanCore *	kalman
Kalman *	kalman_ext
int	m
int	n
KalmanSensorCore *	sensor
KalmanSensor *	sensor_ext

Detailed Description

Class for visualizing Kalman filter.

Usage:

KalmanVisualize kvis(&kalman, &sensor);
...
kvis.update_pre();
kalman.predict_update(&sensor);
kvis.update_post();
kvis.show();

Definition at line 274 of file Kalman.h.

Constructor & Destructor Documentation

alvar::KalmanVisualize::KalmanVisualize	(	Kalman *	_kalman,
		KalmanSensor *	_sensor
	)

Constructor for full Kalman implementation.

Definition at line 381 of file Kalman.cpp.

alvar::KalmanVisualize::KalmanVisualize	(	KalmanCore *	_kalman,
		KalmanSensorCore *	_sensor
	)

Constructor for core Kalman implementation (not all visualizations possible)

Definition at line 389 of file Kalman.cpp.

alvar::KalmanVisualize::~KalmanVisualize

(

)

Destructor.

Definition at line 397 of file Kalman.cpp.

Member Function Documentation

void alvar::KalmanVisualize::img_matrix ( CvMat *  mat, int  top, int  left  )

private

Add matrix to the image.

Definition at line 297 of file Kalman.cpp.

void alvar::KalmanVisualize::Init ( )

private

Init everything. Called from constructors.

Definition at line 328 of file Kalman.cpp.

void alvar::KalmanVisualize::out_matrix ( CvMat *  m, char *  name  )

static

Helper method for outputting matrices (for debug purposes)

Definition at line 356 of file Kalman.cpp.

void alvar::KalmanVisualize::show

(

)

Show the genrated visualization image.

Definition at line 435 of file Kalman.cpp.

void alvar::KalmanVisualize::update_post

(

)

Update the visualization image - call this after the Kalman's predict_update.

Definition at line 409 of file Kalman.cpp.

void alvar::KalmanVisualize::update_pre

(

)

Update the visualization image - call this before the Kalman's predict_update.

Definition at line 401 of file Kalman.cpp.

Member Data Documentation

IplImage* alvar::KalmanVisualize::img

private

Image collecting visualization of the Kalman filter.

Definition at line 282 of file Kalman.h.

IplImage* alvar::KalmanVisualize::img_legend

private

Image to show.

Definition at line 284 of file Kalman.h.

int alvar::KalmanVisualize::img_scale

private

visualization scale before show

Definition at line 288 of file Kalman.h.

IplImage* alvar::KalmanVisualize::img_show

private

Image to show.

Definition at line 286 of file Kalman.h.

KalmanCore* alvar::KalmanVisualize::kalman

private

Definition at line 277 of file Kalman.h.

Kalman* alvar::KalmanVisualize::kalman_ext

private

Definition at line 279 of file Kalman.h.

int alvar::KalmanVisualize::m

private

Definition at line 276 of file Kalman.h.

int alvar::KalmanVisualize::n

private

Definition at line 275 of file Kalman.h.

KalmanSensorCore* alvar::KalmanVisualize::sensor

private

Definition at line 278 of file Kalman.h.

KalmanSensor* alvar::KalmanVisualize::sensor_ext

private

Definition at line 280 of file Kalman.h.

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

• Kalman.h
• Kalman.cpp