Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
BFL::BackwardFilter< StateVar > Class Template Referenceabstract

Virtual Baseclass representing all bayesian backward filters. More...

#include <backwardfilter.h>

Inheritance diagram for BFL::BackwardFilter< StateVar >:
Inheritance graph
[legend]

Public Member Functions

 BackwardFilter (Pdf< StateVar > *prior)
 Constructor. More...
 
 BackwardFilter (const BackwardFilter< StateVar > &filt)
 copy constructor More...
 
virtual Pdf< StateVar > * PostGet ()
 Get Posterior density. More...
 
virtual void Reset (Pdf< StateVar > *prior)
 Reset Filter. More...
 
int TimeStepGet () const
 Get current time. More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, const StateVar &u, Pdf< StateVar > *const filtered_post)
 Full Update (system with inputs) More...
 
virtual bool Update (SystemModel< StateVar > *const sysmodel, Pdf< StateVar > *const filtered_post)
 Full Update (system without inputs) More...
 
virtual ~BackwardFilter ()
 destructor More...
 

Protected Member Functions

virtual bool UpdateInternal (SystemModel< StateVar > *const sysmodel, const StateVar &u, Pdf< StateVar > *const filtered_post)=0
 Actual implementation of Update, varies along filters. More...
 

Protected Attributes

Pdf< StateVar > * _post
 Pointer to the Posterior Pdf. More...
 
Pdf< StateVar > * _prior
 prior Pdf More...
 
int _timestep
 Represents the current timestep of the filter. More...
 

Detailed Description

template<typename StateVar>
class BFL::BackwardFilter< StateVar >

Virtual Baseclass representing all bayesian backward filters.

This is the virtual baseclass representing all simularities between Bayesian backward filters. One class of smoothers corresponds to a forward pass (with a classical Bayesian filter) and a backward pass (with a backward Bayesian filter) The backward filters related with these smoothers are related to a System Model (they don't need a measurement model!(for as far I see now))

This class is the base class for a rauch tung striebel backward filter, a backward particle filters, ...

See also
Pdf SystemModel ConditionalPdf

StateVar represents the form of the states and inputs

Definition at line 59 of file backwardfilter.h.

Constructor & Destructor Documentation

template<typename SVar>
BFL::BackwardFilter< SVar >::BackwardFilter ( Pdf< SVar > *  prior)

Constructor.

Precondition
you created the prior
Parameters
priorpointer to the prior Pdf

Definition at line 26 of file backwardfilter.h.

template<typename SVar>
BFL::BackwardFilter< SVar >::BackwardFilter ( const BackwardFilter< SVar > &  filt)

copy constructor

Definition at line 35 of file backwardfilter.h.

template<typename SVar >
BFL::BackwardFilter< SVar >::~BackwardFilter ( )
virtual

destructor

Definition at line 31 of file backwardfilter.cpp.

Member Function Documentation

template<typename SVar >
Pdf< SVar > * BFL::BackwardFilter< SVar >::PostGet ( )
virtual

Get Posterior density.

Get the current Posterior density

Returns
a pointer to the current posterior

Definition at line 64 of file backwardfilter.cpp.

template<typename SVar>
void BFL::BackwardFilter< SVar >::Reset ( Pdf< SVar > *  prior)
virtual

Reset Filter.

Definition at line 38 of file backwardfilter.cpp.

template<typename SVar >
int BFL::BackwardFilter< SVar >::TimeStepGet ( ) const

Get current time.

Get the current time of the filter

Returns
the current timestep

Definition at line 45 of file backwardfilter.cpp.

template<typename SVar>
bool BFL::BackwardFilter< SVar >::Update ( SystemModel< SVar > *const  sysmodel,
const SVar &  u,
Pdf< SVar > *const  filtered_post 
)
virtual

Full Update (system with inputs)

Parameters
sysmodelpointer to the system model to use for update
uinput to the system
filtered_postfiltered posterior

Definition at line 52 of file backwardfilter.h.

template<typename SVar>
bool BFL::BackwardFilter< SVar >::Update ( SystemModel< SVar > *const  sysmodel,
Pdf< SVar > *const  filtered_post 
)
virtual

Full Update (system without inputs)

Parameters
sysmodelpointer to the system model to use for update
filtered_postfiltered posterior

Definition at line 58 of file backwardfilter.h.

template<typename StateVar>
virtual bool BFL::BackwardFilter< StateVar >::UpdateInternal ( SystemModel< StateVar > *const  sysmodel,
const StateVar u,
Pdf< StateVar > *const  filtered_post 
)
protectedpure virtual

Actual implementation of Update, varies along filters.

Parameters
sysmodelpointer to the used system model
uinput param for proposal density
filtered_postis the posterior obtained by filtering of the timestep you want to smooth

Implemented in BFL::ParticleSmoother< StateVar >.

Member Data Documentation

template<typename StateVar>
Pdf<StateVar>* BFL::BackwardFilter< StateVar >::_post
protected

Pointer to the Posterior Pdf.

The Posterior Pdf represents the subjective belief of the person applying the filter AFTER processing a backwards step.

Definition at line 69 of file backwardfilter.h.

template<typename StateVar>
Pdf<StateVar>* BFL::BackwardFilter< StateVar >::_prior
protected

prior Pdf

Definition at line 64 of file backwardfilter.h.

template<typename StateVar>
int BFL::BackwardFilter< StateVar >::_timestep
protected

Represents the current timestep of the filter.

Definition at line 72 of file backwardfilter.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 Mon Jun 10 2019 12:48:01