labust::navigation::KinematicModel Class Reference

#include <KinematicModel.hpp>

Inheritance diagram for labust::navigation::KinematicModel:

List of all members.

Public Types
enum	{   xp = 0, yp, Vv, psi,   r }
enum	{ stateNum = 5 }
enum	{ inputSize = 2 }
typedef vector	input_type
typedef vector	output_type
Public Member Functions
void	calculateXYInovationVariance (const matrix &P, double &xin, double &yin)
void	estimate_y (output_type &y)
void	initModel ()
	KinematicModel ()
void	step (const input_type &input)
	~KinematicModel ()
Protected Member Functions
void	calculateJacobian ()
Private Types
typedef SSModel< double >	Base

---

Detailed Description

This class implements a basic kinematic model for the EKF filter. The model is taken from: A. Alcocer, P. Oliveira, A. Pascoal "Study and implementation of an EKF GIB based underwater positioning system"

We ignore the existence of currents.

Definition at line 53 of file KinematicModel.hpp.

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Member Typedef Documentation

typedef SSModel<double> labust::navigation::KinematicModel::Base [private]

Definition at line 55 of file KinematicModel.hpp.

typedef vector labust::navigation::KinematicModel::input_type

Definition at line 57 of file KinematicModel.hpp.

typedef vector labust::navigation::KinematicModel::output_type

Definition at line 58 of file KinematicModel.hpp.

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Member Enumeration Documentation

anonymous enum

Enumerator:

xp
yp
Vv
psi
r

Definition at line 60 of file KinematicModel.hpp.

anonymous enum

Enumerator:

stateNum

Definition at line 61 of file KinematicModel.hpp.

anonymous enum

Enumerator:

inputSize

Definition at line 62 of file KinematicModel.hpp.

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Constructor & Destructor Documentation

KinematicModel::KinematicModel

(

)

The default constructor.

Definition at line 38 of file KinematicModel.cpp.

KinematicModel::~KinematicModel

(

)

Generic destructor.

Definition at line 40 of file KinematicModel.cpp.

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Member Function Documentation

void labust::navigation::KinematicModel::calculateJacobian

(

)

[protected]

Calculate the Jacobian matrices

void KinematicModel::calculateXYInovationVariance	(	const matrix &	P,
		double &	xin,
		double &	yin
	)

Calculate the inovation variance.

Definition at line 92 of file KinematicModel.cpp.

void KinematicModel::estimate_y

(

output_type &

y

)

Calculates the estimated output of the model.

Parameters:

y	Inserts the estimated output values here.

Definition at line 87 of file KinematicModel.cpp.

void KinematicModel::initModel

(

)

Initialize the model to default values

Definition at line 42 of file KinematicModel.cpp.

void KinematicModel::step

(

const input_type &

input

)

Perform a prediction step based on the system input.

Parameters:

u	System input.

Definition at line 67 of file KinematicModel.cpp.

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The documentation for this class was generated from the following files:

• KinematicModel.hpp
• KinematicModel.cpp