Class UKF

Defined in File ukf.hpp

Class Documentation

class UKF

Public Functions

explicit UKF(const UKFParams &params = UKFParams{})

void init(const State &initial_state)

void predict(double dt)

template<int z_dim> Eigen::Matrix<double, z_dim, 1> update(const Eigen::Matrix<double, z_dim, 1> &z, const std::function<Eigen::Matrix<double, z_dim, 1>(const StateVector&)> &h, const Eigen::Matrix<double, z_dim, z_dim> &R, unsigned int angle_dims = 0)

template<int z_dim> void predict_measurement(const Eigen::Matrix<double, z_dim, 1> &z, const std::function<Eigen::Matrix<double, z_dim, 1>(const StateVector&)> &h, const Eigen::Matrix<double, z_dim, z_dim> &R, Eigen::Matrix<double, z_dim, 1> &innovation_out, Eigen::Matrix<double, z_dim, z_dim> &S_out, unsigned int angle_dims = 0)

inline const State &state() const

inline bool is_initialized() const

inline void set_position_noise_scale(double s)

inline double position_noise_scale() const