Observation model for an unscented kalman filter. More...
#include <UnscentedKalman.h>
Public Member Functions | |
| virtual CvMat * | getObservation ()=0 |
| Returns the current measurement vector. | |
| virtual CvMat * | getObservationNoise ()=0 |
| Returns the observation noise covariance matrix. | |
| virtual void | h (CvMat *z, CvMat *state)=0 |
| observation model: z = h(state) | |
Observation model for an unscented kalman filter.
The implementation needs to allocate correct size measurement vector and noise matrix and to implement a transformation from process state into a measurement.
Definition at line 252 of file UnscentedKalman.h.
| virtual CvMat* alvar::UnscentedObservation::getObservation | ( | ) | [pure virtual] |
Returns the current measurement vector.
The returned vector should contain the latest measurement values. In the UKF update phase the process state will be modified in such a way to make the difference between estimated measurement (from method h) and the returned real measurement smaller.
| virtual CvMat* alvar::UnscentedObservation::getObservationNoise | ( | ) | [pure virtual] |
Returns the observation noise covariance matrix.
The returned matrix will be added to the current observation covariance matrix increasing the uncertainty of measurements. The matrix should reflect the amount of noise in the measurement vector returned by getObservation method.
| virtual void alvar::UnscentedObservation::h | ( | CvMat * | z, |
| CvMat * | state | ||
| ) | [pure virtual] |
observation model: z = h(state)
Computes an estimated measurement vector from the current state estimate.
| z | obs_n size vector; The estimated measurement. |
| state | state_n size vector; The current state. |