Kalman sensor implementation. More...

#include <Kalman.h>

Inheritance diagram for KalmanSensor:

Public Member Functions
	KalmanSensor (const KalmanSensor &k)
	Copy constructor.

	KalmanSensor (int n, int _m)
	Constructor. More...

	~KalmanSensor ()
	Destructor.

virtual void	update_H (const cv::Mat &x_pred)
	Method for updating how the Kalman state vector is mapped into this sensor's measurements vector. This is called from predict_update() of Kalman. Please override this method if you want this mapping to change on the run (e.g. based on time?).

virtual void	update_K (const cv::Mat &P_pred)
	Method for updating the Kalman gain. This is called from predict_update() of Kalman.

virtual void	update_P (const cv::Mat &P_pred, cv::Mat &P)
	Method for updating the error covariance matrix describing the accuracy of the state estimate. This is called from predict_update() of Kalman.

Public Member Functions inherited from KalmanSensorCore
	KalmanSensorCore (const KalmanSensorCore &k)
	Copy constructor.

	KalmanSensorCore (int _n, int _m)
	Constructor. More...

	~KalmanSensorCore ()
	Destructor.

int	get_n ()
	Accessor for n.

int	get_m ()
	Accessor for m.

virtual void	update_x (const cv::Mat &x_pred, cv::Mat &x)
	Method for updating the state estimate x This is called from predict_update() of Kalman. In KalmanSensorCore and in KalmanSensor this update is made linearly but KalmanSensorEkf will override this method to use unlinear estimation.

Public Attributes
cv::Mat	R
	The covariance matrix for the observation noise.

Public Attributes inherited from KalmanSensorCore
cv::Mat	z
	Latest measurement vector (m*1)

cv::Mat	H
	The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector.

cv::Mat	K
	The matrix (nm) containing Kalman gain (something between 0 and H^-1). In this core-implementation we assume this to be precalculated. In KalmanSensor* this is updated using update_K .

Protected Attributes
cv::Mat	R_tmp

cv::Mat	P_tmp

Protected Attributes inherited from KalmanSensorCore
int	n

int	m

cv::Mat	H_trans

cv::Mat	z_pred

cv::Mat	z_residual

cv::Mat	x_gain

Detailed Description

Kalman sensor implementation.

Definition at line 136 of file Kalman.h.

Constructor & Destructor Documentation

Constructor.

Parameters

_n	The number of items in the Kalman state vector
_m	The number of measurements given by this sensor

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