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KalmanCore Class Reference

Core implementation for Kalman. More...

#include <Kalman.h>

Inheritance diagram for KalmanCore:
Kalman KalmanEkf

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
_nThe number of items in the Kalman state vector

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