Public Member Functions | Private Attributes
BFL::NonminimalKalmanFilter Class Reference

#include <nonminimalkalmanfilter.h>

Inheritance diagram for BFL::NonminimalKalmanFilter:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void MeasUpdate (MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
 NonminimalKalmanFilter (Gaussian *prior, unsigned int NrIterations, vector< NLSysModel * > minimalsysmodels, vector< NLMeasModel * > minimalmeasmodels, vector< GiNaC::symbol > nonlinearstate=*(new vector< GiNaC::symbol >))
virtual void SysUpdate (SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u)
virtual ~NonminimalKalmanFilter ()
 Destructor.

Private Attributes

Linearise * Linear
IteratedExtendedKalmanFilterMinimalFilter
NLMeasModelMinimalMeasModel
GaussianMinimalPrior
vector< GiNaC::symbol > MinimalState
IteratedExtendedKalmanFilterNonminimalFilter
GaussianNonminimalPrior
vector< GiNaC::symbol > NonminimalState

Detailed Description

This is a class implementing the Kalman Filter (KF) class for Non Minimal State Kalman Filters.

The System- and MeasurementUpdate equasions are not linear. Substituting the state by a non-minimal state will make the System- and MeasurementUpdate linear in the non-minimal state

See also:
KalmanFilter
Todo:
Seriously reimplement this class!

Definition at line 47 of file nonminimalkalmanfilter.h.


Constructor & Destructor Documentation

BFL::NonminimalKalmanFilter::NonminimalKalmanFilter ( Gaussian prior,
unsigned int  NrIterations,
vector< NLSysModel * >  minimalsysmodels,
vector< NLMeasModel * >  minimalmeasmodels,
vector< GiNaC::symbol >  nonlinearstate = *(new vector<GiNaC::symbol>) 
)

Constructor

Precondition:
you created the prior
Parameters:
priorpointer to the Gaussian prior density
NrIterationsNumber of iterations that will be used (this class uses 2 IEKF: one for the minimal state and one for the nonminimal state)
minimalsysmodelsvector of measurement models that can be used for measurement updates
minimalmeasmodelsvector of system models that can be used for system updates
nonlinearstatesymbols of state in wich the filter should be linearised

Definition at line 30 of file nonminimalkalmanfilter.cpp.

Destructor.

Definition at line 71 of file nonminimalkalmanfilter.cpp.


Member Function Documentation

void BFL::NonminimalKalmanFilter::MeasUpdate ( MeasurementModel< ColumnVector, ColumnVector > *const  measmodel,
const ColumnVector &  z,
const ColumnVector &  s 
) [virtual]

Definition at line 88 of file nonminimalkalmanfilter.cpp.

void BFL::NonminimalKalmanFilter::SysUpdate ( SystemModel< ColumnVector > *const  sysmodel,
const ColumnVector &  u 
) [virtual]

Definition at line 81 of file nonminimalkalmanfilter.cpp.


Member Data Documentation

Definition at line 77 of file nonminimalkalmanfilter.h.

Definition at line 78 of file nonminimalkalmanfilter.h.

Definition at line 80 of file nonminimalkalmanfilter.h.

Definition at line 79 of file nonminimalkalmanfilter.h.

vector<GiNaC::symbol> BFL::NonminimalKalmanFilter::MinimalState [private]

Definition at line 76 of file nonminimalkalmanfilter.h.

Definition at line 78 of file nonminimalkalmanfilter.h.

Definition at line 79 of file nonminimalkalmanfilter.h.

vector<GiNaC::symbol> BFL::NonminimalKalmanFilter::NonminimalState [private]

Definition at line 76 of file nonminimalkalmanfilter.h.


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


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Thu Feb 11 2016 22:31:57