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Observation model for an unscented kalman filter. More...
#include <UnscentedKalman.h>
Public Member Functions | |
virtual void | h (cv::Mat &z, cv::Mat &state)=0 |
observation model: z = h(state) More... | |
virtual cv::Mat | getObservation ()=0 |
Returns the current measurement vector. More... | |
virtual cv::Mat | getObservationNoise ()=0 |
Returns the observation noise covariance matrix. More... | |
Observation model for an unscented kalman filter.
The implementation needs to allocate correct size measurement vector and noise matrix and to implement a transformation from process state into a measurement.
Definition at line 262 of file UnscentedKalman.h.
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pure virtual |
Returns the current measurement vector.
The returned vector should contain the latest measurement values. In the UKF update phase the process state will be modified in such a way to make the difference between estimated measurement (from method h) and the returned real measurement smaller.
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pure virtual |
Returns the observation noise covariance matrix.
The returned matrix will be added to the current observation covariance matrix increasing the uncertainty of measurements. The matrix should reflect the amount of noise in the measurement vector returned by getObservation method.
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pure virtual |
observation model: z = h(state)
Computes an estimated measurement vector from the current state estimate.
z | obs_n size vector; The estimated measurement. |
state | state_n size vector; The current state. |