#include <tracker_kalman.h>
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_ |
Definition at line 60 of file tracker_kalman.h.
estimation::TrackerKalman::TrackerKalman | ( | const std::string & | name, |
const BFL::StatePosVel & | sysnoise | ||
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constructor
Definition at line 52 of file tracker_kalman.cpp.
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destructor
Definition at line 103 of file tracker_kalman.cpp.
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Definition at line 213 of file tracker_kalman.cpp.
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get filter posterior
Implements estimation::Tracker.
Definition at line 187 of file tracker_kalman.cpp.
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Implements estimation::Tracker.
Definition at line 198 of file tracker_kalman.cpp.
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return the lifetime of the tracker
Implements estimation::Tracker.
Definition at line 224 of file tracker_kalman.cpp.
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return measure for tracker quality: 0=bad 1=good
Implements estimation::Tracker.
Definition at line 79 of file tracker_kalman.h.
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return the time of the tracker
Implements estimation::Tracker.
Definition at line 232 of file tracker_kalman.cpp.
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initialize tracker
Implements estimation::Tracker.
Definition at line 115 of file tracker_kalman.cpp.
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return if tracker was initialized
Implements estimation::Tracker.
Definition at line 73 of file tracker_kalman.h.
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Implements estimation::Tracker.
Definition at line 166 of file tracker_kalman.cpp.
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Definition at line 103 of file tracker_kalman.h.
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Definition at line 115 of file tracker_kalman.h.
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Definition at line 115 of file tracker_kalman.h.
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Definition at line 107 of file tracker_kalman.h.
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Definition at line 106 of file tracker_kalman.h.
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Definition at line 102 of file tracker_kalman.h.
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Definition at line 115 of file tracker_kalman.h.
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Definition at line 108 of file tracker_kalman.h.
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Definition at line 105 of file tracker_kalman.h.
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Definition at line 104 of file tracker_kalman.h.
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Definition at line 109 of file tracker_kalman.h.
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Definition at line 114 of file tracker_kalman.h.