Classes | Public Types | Public Member Functions | Protected Member Functions | Protected Attributes | Private Types
labust::navigation::XYModel Class Reference

#include <XYModel.hpp>

Inheritance diagram for labust::navigation::XYModel:
Inheritance graph
[legend]

List of all members.

Classes

struct  ModelParams

Public Types

enum  {
  u = 0, v, r, xp,
  yp, psi, xc, yc,
  b1, b2
}
enum  { stateNum = 10 }
enum  { inputSize = 3 }
enum  { measSize = 3 }
enum  { X = 0, Y, N }
enum  { x_m = 0, y_m, psi_m, psiOnly_m = 0 }
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)
const output_typefullUpdate (double x, double y, double yaw)
void getNEDSpeed (double &xdot, double &ydot)
void initModel ()
const output_typepositionUpdate (double x, double y)
void setParameters (const ModelParams &surge, const ModelParams &sway, const ModelParams &yaw)
void step (const input_type &input)
const output_typeupdate (vector &measurements, vector &newMeas)
 XYModel ()
const output_typeyawUpdate (double yaw)
 ~XYModel ()

Protected Member Functions

void derivativeAW ()
void derivativeHV (int num)

Protected Attributes

output_type measurement
ModelParams surge
ModelParams sway
double xdot
ModelParams yaw
double ydot

Private Types

typedef SSModel< double > Base

Detailed Description

This class implements a x-y surface dynamic model for the EKF filter.

Definition at line 48 of file XYModel.hpp.


Member Typedef Documentation

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

Definition at line 50 of file XYModel.hpp.

Definition at line 52 of file XYModel.hpp.

Definition at line 53 of file XYModel.hpp.


Member Enumeration Documentation

anonymous enum
Enumerator:
u 
v 
r 
xp 
yp 
psi 
xc 
yc 
b1 
b2 

Definition at line 75 of file XYModel.hpp.

anonymous enum
Enumerator:
stateNum 

Definition at line 76 of file XYModel.hpp.

anonymous enum
Enumerator:
inputSize 

Definition at line 77 of file XYModel.hpp.

anonymous enum
Enumerator:
measSize 

Definition at line 78 of file XYModel.hpp.

anonymous enum
Enumerator:
X 
Y 
N 

Definition at line 79 of file XYModel.hpp.

anonymous enum
Enumerator:
x_m 
y_m 
psi_m 
psiOnly_m 

Definition at line 80 of file XYModel.hpp.


Constructor & Destructor Documentation

The default constructor.

Definition at line 42 of file XYModel.cpp.

Generic destructor.

Definition at line 49 of file XYModel.cpp.


Member Function Documentation

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

Definition at line 129 of file XYModel.cpp.

void XYModel::derivativeAW ( ) [protected]

Calculate the Jacobian matrices.

Definition at line 152 of file XYModel.cpp.

void labust::navigation::XYModel::derivativeHV ( int  num) [protected]

Calculate the Jacobian matrices.

Calculates the estimated output of the model.

Parameters:
yInserts the estimated output values here.

Definition at line 202 of file XYModel.cpp.

const output_type& labust::navigation::XYModel::fullUpdate ( double  x,
double  y,
double  yaw 
)

Setup the measurement matrix for full update.

void labust::navigation::XYModel::getNEDSpeed ( double &  xdot,
double &  ydot 
) [inline]

Return the speeds in the local frame.

Definition at line 145 of file XYModel.hpp.

Initialize the model to default values

Definition at line 51 of file XYModel.cpp.

const output_type& labust::navigation::XYModel::positionUpdate ( double  x,
double  y 
)

Setup the measurement matrix for position update.

void labust::navigation::XYModel::setParameters ( const ModelParams surge,
const ModelParams sway,
const ModelParams yaw 
) [inline]

Set the model parameters.

Definition at line 131 of file XYModel.hpp.

void XYModel::step ( const input_type input)

Perform a prediction step based on the system input.

Parameters:
uSystem input.

Definition at line 135 of file XYModel.cpp.

const XYModel::output_type & XYModel::update ( vector measurements,
vector newMeas 
)

Setup the measurement matrix for available measurements.

Definition at line 62 of file XYModel.cpp.

Setup the measurement matrix for heading only.


Member Data Documentation

The newest measurement.

Definition at line 168 of file XYModel.hpp.

The model parameters.

Definition at line 164 of file XYModel.hpp.

Definition at line 164 of file XYModel.hpp.

The NED speeds.

Definition at line 172 of file XYModel.hpp.

Definition at line 164 of file XYModel.hpp.

Definition at line 172 of file XYModel.hpp.


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