#include <kalman_filter.h>

Inheritance diagram for iirob_filters::MultiChannelKalmanFilter< T >:

Public Member Functions
bool	computePrediction (std::vector< T > &data_out)

bool	computePrediction (std::vector< T > &data_out, const double &delta_t)

virtual bool	configure ()

bool	configure (const std::vector< T > &init_state_vector, const std::string param_namespace="")

bool	configure (const std::string &param_namespace)

bool	getCurrentState (std::vector< T > &data_out)

bool	getErrorCovarianceMatrix (Eigen::MatrixXd &data_out)

bool	getGatingMatrix (Eigen::MatrixXd &data_out)

bool	isInitializated ()

bool	likelihood (const std::vector< T > &data_in, double &data_out)

	MultiChannelKalmanFilter ()

bool	predict (std::vector< T > &data_out)

bool	resetErrorCovAndState ()

virtual bool	update (const std::vector< T > &data_in, std::vector< T > &data_out)

bool	update (const std::vector< T > &data_in, std::vector< T > &data_out, const double &delta_t, bool update_Q_matrix=false, const Eigen::MatrixXd &R_loc=Eigen::MatrixXd::Zero(1, 1))

	~MultiChannelKalmanFilter ()

Public Member Functions inherited from filters::MultiChannelFilterBase< T >
bool	configure (unsigned int number_of_channels, const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())

bool	configure (unsigned int number_of_channels, XmlRpc::XmlRpcValue &config)

bool	configure (XmlRpc::XmlRpcValue &config)

	MultiChannelFilterBase ()

virtual bool	update (const T &data_in, T &data_out)

Public Member Functions inherited from filters::FilterBase< T >
bool	configure (const std::string &param_name, ros::NodeHandle node_handle=ros::NodeHandle())

bool	configure (XmlRpc::XmlRpcValue &config)

	FilterBase ()

const std::string &	getName ()

std::string	getType ()

virtual	~FilterBase ()

Private Member Functions
double	fac (double x)

bool	fromStdVectorToEigenMatrix (std::vector< double > &in, Eigen::MatrixXd &out, int rows, int columns, std::string matrix_name)

bool	fromStdVectorToEigenVector (std::vector< double > &in, Eigen::VectorXd &out, int rows, std::string vector_name)

bool	getParams (iirob_filters::KalmanFilterParameters &, const std::string &)

Private Attributes
Eigen::MatrixXd	A

Eigen::MatrixXd	At

Eigen::MatrixXd	C

bool	can_update_Q_matrix

double	dt

Eigen::MatrixXd	gatingMatrix

Eigen::MatrixXd	I

bool	initialized

bool	isDynamicUpdate

Eigen::MatrixXd	K

int	m

int	n

ros::NodeHandle	nh

Eigen::MatrixXd	P

Eigen::MatrixXd	P0

Eigen::MatrixXd	Q

Eigen::MatrixXd	Q_coeff

Eigen::MatrixXd	Q_exponent

double	Q_variance

Eigen::MatrixXd	R

Eigen::VectorXd	x_hat

Eigen::VectorXd	x_hat_new

Additional Inherited Members
Protected Member Functions inherited from filters::FilterBase< T >
bool	getParam (const std::string &name, std::string &value)

bool	getParam (const std::string &name, XmlRpc::XmlRpcValue &value)

bool	getParam (const std::string &name, double &value)

bool	getParam (const std::string &name, std::vector< double > &value)

bool	getParam (const std::string &name, unsigned int &value)

bool	getParam (const std::string &name, int &value)

bool	getParam (const std::string &name, std::vector< std::string > &value)

bool	getParam (const std::string &name, bool &value)

bool	loadConfiguration (XmlRpc::XmlRpcValue &config)

Protected Attributes inherited from filters::MultiChannelFilterBase< T >
unsigned int	number_of_channels_

Protected Attributes inherited from filters::FilterBase< T >
bool	configured_

std::string	filter_name_

std::string	filter_type_

string_map_t	params_

Detailed Description

template<typename T>
class iirob_filters::MultiChannelKalmanFilter< T >

Definition at line 53 of file kalman_filter.h.

Constructor & Destructor Documentation

template<typename T >

iirob_filters::MultiChannelKalmanFilter< T >::MultiChannelKalmanFilter ( )

Definition at line 122 of file kalman_filter.h.

template<typename T >

iirob_filters::MultiChannelKalmanFilter< T >::~MultiChannelKalmanFilter ( )

Definition at line 383 of file kalman_filter.h.

Member Function Documentation

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::computePrediction ( std::vector< T > & data_out )

Definition at line 387 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::computePrediction	(	std::vector< T > &	data_out,
		const double &	delta_t
	)

Definition at line 403 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::configure ( )

virtual

Implements filters::MultiChannelFilterBase< T >.

Definition at line 176 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::configure	(	const std::vector< T > &	init_state_vector,
		const std::string	param_namespace = `""`
	)

Definition at line 162 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::configure ( const std::string & param_namespace )

Definition at line 181 of file kalman_filter.h.

template<typename T >

double iirob_filters::MultiChannelKalmanFilter< T >::fac ( double x )

private

Definition at line 110 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::fromStdVectorToEigenMatrix	(	std::vector< double > &	in,
		Eigen::MatrixXd &	out,
		int	rows,
		int	columns,
		std::string	matrix_name
	)

private

Definition at line 128 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::fromStdVectorToEigenVector	(	std::vector< double > &	in,
		Eigen::VectorXd &	out,
		int	rows,
		std::string	vector_name
	)

private

Definition at line 151 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::getCurrentState ( std::vector< T > & data_out )

Definition at line 543 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::getErrorCovarianceMatrix ( Eigen::MatrixXd & data_out )

Definition at line 480 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::getGatingMatrix ( Eigen::MatrixXd & data_out )

Definition at line 472 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::getParams	(	iirob_filters::KalmanFilterParameters &	parameters,
		const std::string &	param_namespace
	)

private

Definition at line 212 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::isInitializated ( )

Definition at line 145 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::likelihood	(	const std::vector< T > &	data_in,
		double &	data_out
	)

Definition at line 554 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::predict ( std::vector< T > & data_out )

Definition at line 429 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::resetErrorCovAndState ( )

Definition at line 587 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::update	(	const std::vector< T > &	data_in,
		std::vector< T > &	data_out
	)

virtual

Implements filters::MultiChannelFilterBase< T >.

Definition at line 445 of file kalman_filter.h.

template<typename T >

bool iirob_filters::MultiChannelKalmanFilter< T >::update	(	const std::vector< T > &	data_in,
		std::vector< T > &	data_out,
		const double &	delta_t,
		bool	update_Q_matrix = `false`,
		const Eigen::MatrixXd &	R_loc = `Eigen::MatrixXd::Zero(1,1)`
	)