Public Types | Public Member Functions | Protected Member Functions | Private Types
labust::navigation::KinematicModel Class Reference

#include <KinematicModel.hpp>

Inheritance diagram for labust::navigation::KinematicModel:
Inheritance graph
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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.


Member Typedef Documentation

Definition at line 55 of file KinematicModel.hpp.

Definition at line 57 of file KinematicModel.hpp.

Definition at line 58 of file KinematicModel.hpp.


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.


Constructor & Destructor Documentation

The default constructor.

Definition at line 38 of file KinematicModel.cpp.

Generic destructor.

Definition at line 40 of file KinematicModel.cpp.


Member Function Documentation

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.

Calculates the estimated output of the model.

Parameters:
yInserts the estimated output values here.

Definition at line 87 of file KinematicModel.cpp.

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:
uSystem input.

Definition at line 67 of file KinematicModel.cpp.


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


labust_navigation
Author(s): Gyula Nagy
autogenerated on Fri Aug 28 2015 11:23:33