Fawkes API Fawkes Development Version
kalman_1d.h
1/***************************************************************************
2 * kalman_1d.h - Kalman filter (one dimensional)
3 *
4 * Created: Mon Nov 10 2008
5 * Copyright 2008 Bahram Maleki-Fard
6 *
7 ****************************************************************************/
8
9/* This program is free software; you can redistribute it and/or modify
10 * it under the terms of the GNU General Public License as published by
11 * the Free Software Foundation; either version 2 of the License, or
12 * (at your option) any later version. A runtime exception applies to
13 * this software (see LICENSE.GPL_WRE file mentioned below for details).
14 *
15 * This program is distributed in the hope that it will be useful,
16 * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18 * GNU Library General Public License for more details.
19 *
20 * Read the full text in the LICENSE.GPL_WRE file in the doc directory.
21 */
22
23#ifndef UTILS_KALMAN_KALMAN_1D_H__
24#define UTILS_KALMAN_KALMAN_1D_H__
25
26namespace fawkes {
27
29{
30public:
31 KalmanFilter1D(float noise_x = 1.0, float noise_z = 1.0, float mu = 0.0, float sig = 1.0);
33
34 void filter(float observe);
35 void filter(float observe, float &mu, float &sig);
36 float predict() const;
37 float predict(float vel) const;
38 float predict(float vel, int steps, float noise_z) const;
39 float predict(float mu, float vel, int steps, float noise_z) const;
40
41private:
42 float noise_x_; /**< transition noise */
43 float noise_z_; /**< "sigma_z", sensor noise */
44 float mu_; /**< mean "mu" */
45 float sig_; /**< "sigma_0". sigma ~ standard deviation */
46};
47} // end namespace fawkes
48
49#endif
One-dimensional Kalman filter implementation for single-precision floats.
Definition: kalman_1d.h:29
float predict() const
Predicts the next position based on the past observations.
Definition: kalman_1d.cpp:82
void filter(float observe)
Filters an observation.
Definition: kalman_1d.cpp:57
KalmanFilter1D(float noise_x=1.0, float noise_z=1.0, float mu=0.0, float sig=1.0)
Constructor.
Definition: kalman_1d.cpp:40
~KalmanFilter1D()
Destructor.
Definition: kalman_1d.cpp:49
Fawkes library namespace.