estimation::TrackerKalman Class Reference

#include <tracker_kalman.h>

Inheritance diagram for estimation::TrackerKalman:

List of all members.

Public Member Functions
virtual void	getEstimate (BFL::StatePosVel &est) const
	get filter posterior
virtual void	getEstimate (people_msgs::PositionMeasurement &est) const
virtual double	getLifetime () const
	return the lifetime of the tracker
virtual double	getQuality () const
	return measure for tracker quality: 0=bad 1=good
virtual double	getTime () const
	return the time of the tracker
virtual void	initialize (const BFL::StatePosVel &mu, const BFL::StatePosVel &sigma, const double time)
	initialize tracker
virtual bool	isInitialized () const
	return if tracker was initialized
	TrackerKalman (const std::string &name, const BFL::StatePosVel &sysnoise)
	constructor
virtual bool	updateCorrection (const tf::Vector3 &meas, const MatrixWrapper::SymmetricMatrix &cov)
virtual bool	updatePrediction (const double time)
	update tracker
virtual	~TrackerKalman ()
	destructor
Private Member Functions
double	calculateQuality ()
Private Attributes
BFL::ExtendedKalmanFilter *	filter_
double	filter_time_
double	init_time_
BFL::LinearAnalyticMeasurementModelGaussianUncertainty *	meas_model_
BFL::LinearAnalyticConditionalGaussian *	meas_pdf_
BFL::Gaussian	prior_
double	quality_
MatrixWrapper::Matrix	sys_matrix_
BFL::LinearAnalyticSystemModelGaussianUncertainty *	sys_model_
BFL::LinearAnalyticConditionalGaussian *	sys_pdf_
MatrixWrapper::SymmetricMatrix	sys_sigma_
bool	tracker_initialized_

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Detailed Description

Definition at line 60 of file tracker_kalman.h.

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Constructor & Destructor Documentation

estimation::TrackerKalman::TrackerKalman	(	const std::string &	name,
		const BFL::StatePosVel &	sysnoise
	)

constructor

Definition at line 52 of file tracker_kalman.cpp.

estimation::TrackerKalman::~TrackerKalman

(

)

[virtual]

destructor

Definition at line 103 of file tracker_kalman.cpp.

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Member Function Documentation

double estimation::TrackerKalman::calculateQuality

(

)

[private]

Definition at line 213 of file tracker_kalman.cpp.

void estimation::TrackerKalman::getEstimate

(

BFL::StatePosVel &

est

)

const [virtual]

get filter posterior

Implements estimation::Tracker.

Definition at line 187 of file tracker_kalman.cpp.

void estimation::TrackerKalman::getEstimate

(

people_msgs::PositionMeasurement &

est

)

const [virtual]

Implements estimation::Tracker.

Definition at line 198 of file tracker_kalman.cpp.

double estimation::TrackerKalman::getLifetime

(

)

const [virtual]

return the lifetime of the tracker

Implements estimation::Tracker.

Definition at line 224 of file tracker_kalman.cpp.

virtual double estimation::TrackerKalman::getQuality

(

)

const [inline, virtual]

return measure for tracker quality: 0=bad 1=good

Implements estimation::Tracker.

Definition at line 79 of file tracker_kalman.h.

double estimation::TrackerKalman::getTime

(

)

const [virtual]

return the time of the tracker

Implements estimation::Tracker.

Definition at line 232 of file tracker_kalman.cpp.

void estimation::TrackerKalman::initialize	(	const BFL::StatePosVel &	mu,
		const BFL::StatePosVel &	sigma,
		const double	time
	)		[virtual]

initialize tracker

Implements estimation::Tracker.

Definition at line 115 of file tracker_kalman.cpp.

virtual bool estimation::TrackerKalman::isInitialized

(

)

const [inline, virtual]

return if tracker was initialized

Implements estimation::Tracker.

Definition at line 73 of file tracker_kalman.h.

bool estimation::TrackerKalman::updateCorrection	(	const tf::Vector3 &	meas,
		const MatrixWrapper::SymmetricMatrix &	cov
	)		[virtual]

Implements estimation::Tracker.

Definition at line 166 of file tracker_kalman.cpp.

bool estimation::TrackerKalman::updatePrediction

(

const double

time

)

[virtual]

update tracker

Implements estimation::Tracker.

Definition at line 141 of file tracker_kalman.cpp.

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Member Data Documentation

BFL::ExtendedKalmanFilter* estimation::TrackerKalman::filter_ [private]

Definition at line 103 of file tracker_kalman.h.

double estimation::TrackerKalman::filter_time_ [private]

Definition at line 115 of file tracker_kalman.h.

double estimation::TrackerKalman::init_time_ [private]

Definition at line 115 of file tracker_kalman.h.

BFL::LinearAnalyticMeasurementModelGaussianUncertainty* estimation::TrackerKalman::meas_model_ [private]

Definition at line 107 of file tracker_kalman.h.

BFL::LinearAnalyticConditionalGaussian* estimation::TrackerKalman::meas_pdf_ [private]

Definition at line 106 of file tracker_kalman.h.

BFL::Gaussian estimation::TrackerKalman::prior_ [private]

Definition at line 102 of file tracker_kalman.h.

double estimation::TrackerKalman::quality_ [private]

Definition at line 115 of file tracker_kalman.h.

MatrixWrapper::Matrix estimation::TrackerKalman::sys_matrix_ [private]

Definition at line 108 of file tracker_kalman.h.

BFL::LinearAnalyticSystemModelGaussianUncertainty* estimation::TrackerKalman::sys_model_ [private]

Definition at line 105 of file tracker_kalman.h.

BFL::LinearAnalyticConditionalGaussian* estimation::TrackerKalman::sys_pdf_ [private]

Definition at line 104 of file tracker_kalman.h.

MatrixWrapper::SymmetricMatrix estimation::TrackerKalman::sys_sigma_ [private]

Definition at line 109 of file tracker_kalman.h.

bool estimation::TrackerKalman::tracker_initialized_ [private]

Definition at line 114 of file tracker_kalman.h.

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

• tracker_kalman.h
• tracker_kalman.cpp