cPlaneEKF_sp Class Reference

#include <simple_plane.h>

Inheritance diagram for cPlaneEKF_sp:

Public Member Functions
	cPlaneEKF_sp ()
Protected Member Functions
void	makeA ()
	Virtual creator of A.
void	makeH ()
	Virtual creator of H.
void	makeMeasure ()
	Actual measurement function . Fills in z.
void	makeProcess ()
	Actual process . Fills in new x by using old x.
void	makeQ ()
	Virtual creator of Q.
void	makeR ()
	Virtual creator of R.
void	makeV ()
	Virtual creator of V.
void	makeW ()
	Virtual creator of W.
Protected Attributes
double	Bfriction
double	Gravity
double	Mass
double	Period
double	Portance

Detailed Description

Definition at line 7 of file simple_plane.h.

Constructor & Destructor Documentation

cPlaneEKF_sp::cPlaneEKF_sp ( )

Definition at line 78 of file simple_plane.cpp.

Member Function Documentation

void cPlaneEKF_sp::makeA ( ) [protected, virtual]

Virtual creator of A.

Reimplemented from Kalman::EKFilter< double, 1 >.

Definition at line 88 of file simple_plane.cpp.

void cPlaneEKF_sp::makeH ( ) [protected, virtual]

Virtual creator of H.

Reimplemented from Kalman::EKFilter< double, 1 >.

Definition at line 131 of file simple_plane.cpp.

void cPlaneEKF_sp::makeMeasure ( ) [protected, virtual]

Actual measurement function $ h(x, 0) $ . Fills in z.

This function must be overridden, since it is the core of the measurement system. At the time this will be called, x contains the predicted state (a priori state estimate), which is the one that must be used with the measurement function.

Warning:: This function should have no side effects to class members (even members of derived classes) other than z. This is because this function is used by simulate(), which does a calculation and then undoes it before returning the result.

Implements Kalman::EKFilter< double, 1 >.

Definition at line 170 of file simple_plane.cpp.

void cPlaneEKF_sp::makeProcess ( ) [protected, virtual]

Actual process $ f(x, u, 0) $ . Fills in new x by using old x.

This function must be overridden, since it is the core of the system process.

Warning:: This function should have no side effects to class members (even members of derived classes) other than x. This is because this function is used by predict(), which does a calculation and then undoes it before returning the result.

Implements Kalman::EKFilter< double, 1 >.

Definition at line 160 of file simple_plane.cpp.

void cPlaneEKF_sp::makeQ ( ) [protected, virtual]

Virtual creator of Q.

Note:: If OQ is true, that is, if Q is always diagonal, then it is not necessary to initialize non-diagonal elements with anything meaningful.

Reimplemented from Kalman::EKFilter< double, 1 >.

Definition at line 123 of file simple_plane.cpp.

void cPlaneEKF_sp::makeR ( ) [protected, virtual]

Virtual creator of R.

Note:: If OVR is true, that is, if both V and R are always diagonal, then it is not necessary to initialize non-diagonal elements with anything meaningful.

Reimplemented from Kalman::EKFilter< double, 1 >.

Definition at line 152 of file simple_plane.cpp.

void cPlaneEKF_sp::makeV ( ) [protected, virtual]

Virtual creator of V.

Note:: If OVR is true, that is, if both V and R are always diagonal, then it is not necessary to initialize non-diagonal elements with anything meaningful.

Reimplemented from Kalman::EKFilter< double, 1 >.

Definition at line 144 of file simple_plane.cpp.

void cPlaneEKF_sp::makeW ( ) [protected, virtual]

Virtual creator of W.

Reimplemented from Kalman::EKFilter< double, 1 >.

Definition at line 111 of file simple_plane.cpp.