Kalman sensor implementation. More...

#include <Kalman.h>

Inheritance diagram for alvar::KalmanSensor:

Public Member Functions
	KalmanSensor (const KalmanSensor &k)
	Copy constructor.
	KalmanSensor (int n, int _m)
	Constructor.
virtual void	update_H (CvMat *x_pred)
	Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).
virtual void	update_K (CvMat *P_pred)
	Method for updating the Kalman gain. This is called from predict_update() of Kalman.
virtual void	update_P (CvMat P_pred, CvMat P)
	Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman.
	~KalmanSensor ()
	Destructor.
Public Attributes
CvMat *	R
	The covariance matrix for the observation noise.
Protected Attributes
CvMat *	P_tmp
CvMat *	R_tmp

Detailed Description

Kalman sensor implementation.

Examples:: SampleFilter.cpp.

Definition at line 118 of file Kalman.h.

Constructor & Destructor Documentation

alvar::KalmanSensor::KalmanSensor ( const KalmanSensor & k )

Copy constructor.

Definition at line 116 of file Kalman.cpp.

alvar::KalmanSensor::KalmanSensor	(	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 122 of file Kalman.cpp.

alvar::KalmanSensor::~KalmanSensor ( )

Destructor.

Definition at line 128 of file Kalman.cpp.

Member Function Documentation

virtual void alvar::KalmanSensor::update_H ( CvMat * x_pred ) [inline, virtual]

Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).

Reimplemented in alvar::KalmanSensorEkf.

Definition at line 139 of file Kalman.h.

void alvar::KalmanSensor::update_K ( CvMat * P_pred ) [virtual]

Method for updating the Kalman gain. This is called from predict_update() of Kalman.

Definition at line 134 of file Kalman.cpp.