Process model for an unscented kalman filter. More...
#include <UnscentedKalman.h>
Public Member Functions | |
| virtual void | f (CvMat *state)=0 |
| process model: state+1 = f(state) | |
| virtual CvMat * | getProcessNoise ()=0 |
| Returns the process noise covariance. | |
Process model for an unscented kalman filter.
Implementing class needs to allocate a noise matrix of correct size.
Definition at line 221 of file UnscentedKalman.h.
| virtual void alvar::UnscentedProcess::f | ( | CvMat * | state | ) | [pure virtual] |
process model: state+1 = f(state)
Model the process by computing an estimate how the process changes when one timestep is taken.
| state | state_n size vector; The current state in input and the next state estimate in output. |
| virtual CvMat* alvar::UnscentedProcess::getProcessNoise | ( | ) | [pure virtual] |
Returns the process noise covariance.
The returned matrix will be added to the current state covariance matrix, increasing the uncertainty of the current state. The matrix should reflect all unknown factors of the process which are not taken into account by the state estimation method f.