KalmanSensorCore Class Reference

Core implementation for Kalman sensor. More...

#include <Kalman.h>

Inheritance diagram for KalmanSensorCore:

Public Member Functions
	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	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 (n*m) 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
int	n
int	m
cv::Mat	H_trans
cv::Mat	z_pred
cv::Mat	z_residual
cv::Mat	x_gain

Friends
class	KalmanVisualize

Detailed Description

Core implementation for Kalman sensor.

Definition at line 40 of file Kalman.h.

Constructor & Destructor Documentation

KalmanSensorCore()

KalmanSensorCore	(	int	_n,
		int	_m
	)

Constructor.

Parameters

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

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

• Kalman.h