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KalmanSensorCore Class Reference

Core implementation for Kalman sensor. More...

#include <Kalman.h>

Inheritance diagram for KalmanSensorCore:
KalmanSensor KalmanSensorEkf

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
_nThe number of items in the Kalman state vector
_mThe number of measurements given by this sensor

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