steering::EKF Class Reference

#include <ekf.hpp>

Public Member Functions
Matrix3d	covariance_to_eigen (const double covariance[16]) const
	Converts a covariance given by a double array to an Eigen matrix. More...
void	eigen_to_covariance (const Matrix3d &covariance_eigen, double covariance[16]) const
	Converts a covariance given by an Eigen matrix to a double array. More...
	EKF ()
Matrix23d	get_controller_gain (const Control &control) const
	Returns the gain of the controller. More...
Matrix2d	get_motion_covariance (const State &state, const Control &control, double integration_step) const
	Returns the motion covariance in control space. More...
void	get_motion_jacobi (const State &state, const Control &control, double integration_step, Matrix3d &F_x, Matrix32d &F_u) const
	Computes the Jacobians of the motion equations with respect to the state and control. More...
Matrix3d	get_observation_covariance () const
	Returns the observation covariance. More...
Matrix3d	get_observation_jacobi () const
	Computes the Jacobian of the observation equations with respect to the state. More...
Matrix3d	get_rotation_matrix (double angle) const
	Returns the rotation matrix from a global frame to a local frame. More...
void	predict (const State_With_Covariance &state, const Control &control, double integration_step, State_With_Covariance &state_pred) const
	Predicts the covariances based on the paper: Rapidly-exploring random belief trees for motion planning under uncertainty, A. Bry and N. Roy, IEEE ICRA 2011. More...
void	set_parameters (const Motion_Noise &motion_noise, const Measurement_Noise &measurement_noise, const Controller &_controller)
	Sets the parameters required by the EKF. More...
void	update (const State_With_Covariance &state_pred, State_With_Covariance &state_corr) const
	Predicts the covariances. More...

Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
	Overload operator new for fixed-size vectorizable Eigen member variable. More...

Private Attributes
Controller	controller_
	Feedback controller. More...
Matrix3d	I_
	Identity matrix. More...
Measurement_Noise	measurement_noise_
	Measurement noise. More...
Motion_Noise	motion_noise_
	Motion noise. More...

Detailed Description

Definition at line 48 of file ekf.hpp.

Constructor & Destructor Documentation

EKF()

steering::EKF::EKF

(

)

Constructor

Definition at line 41 of file ekf.cpp.

Member Function Documentation

covariance_to_eigen()

Matrix3d steering::EKF::covariance_to_eigen

(

const double

covariance[16]

)

const

Converts a covariance given by a double array to an Eigen matrix.

Definition at line 54 of file ekf.cpp.

eigen_to_covariance()

void steering::EKF::eigen_to_covariance	(	const Matrix3d &	covariance_eigen,
		double	covariance[16]
	)		const

Converts a covariance given by an Eigen matrix to a double array.

Definition at line 67 of file ekf.cpp.

get_controller_gain()

Matrix23d steering::EKF::get_controller_gain

(

const Control &

control

)

const

Returns the gain of the controller.

Definition at line 205 of file ekf.cpp.

get_motion_covariance()

Matrix2d steering::EKF::get_motion_covariance	(	const State &	state,
		const Control &	control,
		double	integration_step
	)		const

Returns the motion covariance in control space.

Definition at line 186 of file ekf.cpp.

get_motion_jacobi()

void steering::EKF::get_motion_jacobi	(	const State &	state,
		const Control &	control,
		double	integration_step,
		Matrix3d &	F_x,
		Matrix32d &	F_u
	)		const

Computes the Jacobians of the motion equations with respect to the state and control.

Definition at line 78 of file ekf.cpp.

get_observation_covariance()

Matrix3d steering::EKF::get_observation_covariance

(

)

const

Returns the observation covariance.

Definition at line 196 of file ekf.cpp.

get_observation_jacobi()

Matrix3d steering::EKF::get_observation_jacobi

(

)

const

Computes the Jacobian of the observation equations with respect to the state.

Definition at line 181 of file ekf.cpp.

get_rotation_matrix()

Matrix3d steering::EKF::get_rotation_matrix

(

double

angle

)

const

Returns the rotation matrix from a global frame to a local frame.

Definition at line 214 of file ekf.cpp.

predict()

void steering::EKF::predict	(	const State_With_Covariance &	state,
		const Control &	control,
		double	integration_step,
		State_With_Covariance &	state_pred
	)		const

Predicts the covariances based on the paper: Rapidly-exploring random belief trees for motion planning under uncertainty, A. Bry and N. Roy, IEEE ICRA 2011.

Definition at line 227 of file ekf.cpp.

set_parameters()

void steering::EKF::set_parameters	(	const Motion_Noise &	motion_noise,
		const Measurement_Noise &	measurement_noise,
		const Controller &	_controller
	)

Sets the parameters required by the EKF.

Definition at line 46 of file ekf.cpp.

update()

void steering::EKF::update	(	const State_With_Covariance &	state_pred,
		State_With_Covariance &	state_corr
	)		const

Predicts the covariances.

Definition at line 251 of file ekf.cpp.

Member Data Documentation

controller_

Controller steering::EKF::controller_

private

Feedback controller.

Definition at line 102 of file ekf.hpp.

EIGEN_MAKE_ALIGNED_OPERATOR_NEW

steering::EKF::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Overload operator new for fixed-size vectorizable Eigen member variable.

Definition at line 92 of file ekf.hpp.

I_

Matrix3d steering::EKF::I_

private

Identity matrix.

Definition at line 105 of file ekf.hpp.

measurement_noise_

Measurement_Noise steering::EKF::measurement_noise_

private

Measurement noise.

Definition at line 99 of file ekf.hpp.

motion_noise_

Motion_Noise steering::EKF::motion_noise_

private

Motion noise.

Definition at line 96 of file ekf.hpp.

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

• ekf.hpp
• ekf.cpp