Kalman sensor implementation.
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#include <Kalman.h>
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| KalmanSensor (const KalmanSensor &k) |
| Copy constructor.
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| KalmanSensor (int n, int _m) |
| Constructor. More...
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| ~KalmanSensor () |
| Destructor.
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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?).
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virtual void | update_K (const cv::Mat &P_pred) |
| Method for updating the Kalman gain. This is called from predict_update() of Kalman.
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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.
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| KalmanSensorCore (const KalmanSensorCore &k) |
| Copy constructor.
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| KalmanSensorCore (int _n, int _m) |
| Constructor. More...
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| ~KalmanSensorCore () |
| Destructor.
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int | get_n () |
| Accessor for n.
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int | get_m () |
| Accessor for m.
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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.
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cv::Mat | R |
| The covariance matrix for the observation noise.
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cv::Mat | z |
| Latest measurement vector (m*1)
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cv::Mat | H |
| The matrix (m*n) mapping Kalman state vector into this sensor's measurements vector.
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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 .
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cv::Mat | R_tmp |
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cv::Mat | P_tmp |
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int | n |
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int | m |
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cv::Mat | H_trans |
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cv::Mat | z_pred |
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cv::Mat | z_residual |
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cv::Mat | x_gain |
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Kalman sensor implementation.
Definition at line 136 of file Kalman.h.
◆ KalmanSensor()
Constructor.
- Parameters
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_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: