KalmanCore Class Reference

Core implementation for Kalman. More...

#include <Kalman.h>

Inheritance diagram for KalmanCore:

Public Member Functions
	KalmanCore (const KalmanCore &s)
	Copy constructor.
	KalmanCore (int _n)
	Constructor. More...
	~KalmanCore ()
	Destructor.
int	get_n ()
	Accessor for n.
virtual cv::Mat &	predict ()
	Predict the Kalman state vector for the given time step . x_pred = F * x.
cv::Mat &	predict_update (KalmanSensorCore *sensor)
	Predict the Kalman state vector and update the state using the constant Kalman gain. x = x_pred + K* ( z - H*x_pred)

Public Attributes
cv::Mat	x
	The Kalman state vector (n*1)
cv::Mat	F
	The matrix (n*n) containing the transition model for the internal state.
cv::Mat	x_pred
	Predicted state, TODO: should be protected?!

Protected Member Functions
virtual void	predict_x (unsigned long tick)

Protected Attributes
int	n
cv::Mat	F_trans

Friends
class	KalmanVisualize

Detailed Description

Core implementation for Kalman.

Definition at line 92 of file Kalman.h.

Constructor & Destructor Documentation

KalmanCore()

KalmanCore

(

int

_n

)

Constructor.

Parameters

_n	The number of items in the Kalman state vector

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

• Kalman.h