Kalman Namespace Reference

Contains all classes and functions related to Kalman filtering. More...

Namespaces
namespace	Util
	Nested namespace in `Kalman` to avoid name clash with `std::swap`.
Classes
class	EKFilter
	Generic Extended Kalman Filter (EKF) template base class. More...
struct	KalmanError
	Base class for all exceptions thrown in the `Kalman` namespace. More...
class	KFilter
	Generic Linear Kalman Filter template base class. More...
class	KMatrix
	Minimalist matrix template class. More...
class	KMatrixContextImpl
	Contains necessary informations to print a formatted `KMatrix`. More...
class	KVector
	Minimalist vector template class. More...
class	KVectorContextImpl
	Contains necessary informations to print a formatted `KVector`. More...
class	MFile
struct	MFileElement
struct	OutOfBoundError
	Exception class for access to out-of-bound elements. More...
Typedefs
typedef short int	K_INT_16
	Signed 16-bits integral type.
typedef long int	K_INT_32
	Signed 32-bits integral type.
typedef float	K_REAL_32
	32-bits floating point type
typedef double	K_REAL_64
	64-bits floating point type
typedef unsigned short int	K_UINT_16
	Unsigned 16-bits integral type.
typedef unsigned long int	K_UINT_32
	Unsigned 32-bits integral type.
typedef unsigned short	KMatrixContext
	Handle type to a matrix printing context.
typedef unsigned short	KVectorContext
	Handle type to a vector printing context.
Functions
KMatrixContext	createKMatrixContext (std::string elemDelim=" ", std::string rowDelim="\n", std::string startDelim="", std::string endDelim="", unsigned prec=4)
	Creates a matrix printing context.
KVectorContext	createKVectorContext (std::string elemDelim=" ", std::string startDelim="", std::string endDelim="", unsigned prec=4)
	Creates a vector printing context.
template<typename T , K_UINT_32 BEG, bool DBG>
std::ostream &	operator<< (std::ostream &os, const KVector< T, BEG, DBG > &v)
	Writes a vector to a stream.
template<typename T , K_UINT_32 BEG, bool DBG>
std::ostream &	operator<< (std::ostream &os, const KMatrix< T, BEG, DBG > &M)
	Writes a matrix to a stream.
template<typename T , K_UINT_32 BEG, bool DBG>
std::istream &	operator>> (std::istream &is, KVector< T, BEG, DBG > &v)
	Reads a vector from a stream.
template<typename T , K_UINT_32 BEG, bool DBG>
std::istream &	operator>> (std::istream &is, KMatrix< T, BEG, DBG > &M)
	Reads a matrix from a stream.
KMatrixContext	selectKMatrixContext (KMatrixContext c)
	Selects a matrix printing context as the current context.
KVectorContext	selectKVectorContext (KVectorContext c)
	Selects a vector printing context as the current context.
Variables
KMatrixContextImpl *	currentMatrixContext = &matrixContexts[0]
	Refers to the currently selected matrix printing context.
KVectorContextImpl *	currentVectorContext = &vectorContexts[0]
	Refers to the currently selected vector printing context.
KMatrixContext	DEFAULT_MATRIX_CONTEXT = 0
	Default matrix printing context object.
KVectorContext	DEFAULT_VECTOR_CONTEXT = 0
	Default vector printing context object.

Detailed Description

Contains all classes and functions related to Kalman filtering.

The Kalman filtering template classes make use of traditional vector and matrix template classes. Since Kalman filtering is mainly used in numeric applications, the presence of another library of vectors and matrices is probable. To avoid name clashes, the Kalman namespace contains everything.

Typedef Documentation

typedef short int Kalman::K_INT_16

Signed 16-bits integral type.

Definition at line 65 of file ktypes.hpp.

typedef long int Kalman::K_INT_32

Signed 32-bits integral type.

Definition at line 67 of file ktypes.hpp.

typedef float Kalman::K_REAL_32

32-bits floating point type

Definition at line 69 of file ktypes.hpp.

typedef double Kalman::K_REAL_64

64-bits floating point type

Definition at line 70 of file ktypes.hpp.

typedef unsigned short int Kalman::K_UINT_16

Unsigned 16-bits integral type.

Definition at line 66 of file ktypes.hpp.

typedef unsigned long int Kalman::K_UINT_32

Unsigned 32-bits integral type.

Definition at line 68 of file ktypes.hpp.

typedef unsigned short Kalman::KMatrixContext

Handle type to a matrix printing context.

Definition at line 179 of file kmatrix.hpp.

typedef unsigned short Kalman::KVectorContext

Handle type to a vector printing context.

Definition at line 166 of file kvector.hpp.

Function Documentation

KMatrixContext Kalman::createKMatrixContext	(	std::string	elemDelim = `" "`,
		std::string	rowDelim = `"\n"`,
		std::string	startDelim = `""`,
		std::string	endDelim = `""`,
		unsigned	prec = `4`
	)

Creates a matrix printing context.

This function creates a new matrix printing context and adds it to the global list of matrix contexts. In the discussion below, a whitespace refers to a single character among the following : a horizontal space, a horizontal tabulation, a linefeed or a carriage return.

Warning:: Severe constraints are imposed on delimiter strings. Pay attention to them, or else, weird bugs could happen !

Parameters:

	elemDelim	Delimiter string between matrix elements. Must not be empty. Must start and end with one or more whitespace(s). Cannot contain a middle whitespace (a lone whitespace which is not at the beginning, nor at the end of the string).
	rowDelim	Delimiter string at the end of each row. Must not be empty. Must start and end with one or more whitespace(s). Cannot contain a middle whitespace (a lone whitespace which is not at the beginning, nor at the end of the string).
	startDelim	Starting string before first matrix element. May be empty. If not empty, must not begin with a whitespace and must end with one or more whitespace(s). Cannot contain a middle whitespace.
	endDelim	Ending string after last matrix element. May be empty. If not empty, must not end with a whitespace and must begin with one or more whitespace(s). Cannot contain a middle whitespace
	prec	Number of significant digits to output. Must be between 1 and 9, or else, will be clipped.

Returns:: A handle to the newly created vector context.

Definition at line 144 of file kstatics.cpp.

KVectorContext Kalman::createKVectorContext	(	std::string	elemDelim = `" "`,
		std::string	startDelim = `""`,
		std::string	endDelim = `""`,
		unsigned	prec = `4`
	)

Creates a vector printing context.

This function creates a new vector printing context and adds it to the global list of vector contexts. In the discussion below, a whitespace refers to a single character among the following : a horizontal space, a horizontal tabulation, a linefeed or a carriage return.

Warning:: Severe constraints are imposed on delimiter strings. Pay attention to them, or else, weird bugs could happen !

Parameters:

	elemDelim	Delimiter string between vector elements. Must not be empty. Must start and end with one or more whitespace(s). Cannot contain a middle whitespace (a lone whitespace which is not at the beginning, nor at the end of the string).
	startDelim	Starting string before first vector element. May be empty. If not empty, must not begin with a whitespace and must end with one or more whitespace(s). Cannot contain a middle whitespace.
	endDelim	Ending string after last vector element. May be empty. If not empty, must not end with a whitespace and must begin with one or more whitespace(s). Cannot contain a middle whitespace
	prec	Number of significant digits to output. Must be between 1 and 9, or else, will be clipped.

Returns:: A handle to the newly created vector context.

Definition at line 85 of file kstatics.cpp.

template<typename T , K_UINT_32 BEG, bool DBG>

std::ostream & Kalman::operator<<	(	std::ostream &	os,
		const KVector< T, BEG, DBG > &	v
	)			`[inline]`

Writes a vector to a stream.

Parameters:

	os	A reference to the output stream.
	v	A reference to the vector to print.

Returns:: A reference to the output stream.

Note:: This function is equivalent to v.put(os).

Definition at line 328 of file kvector_impl.hpp.

template<typename T , K_UINT_32 BEG, bool DBG>

std::ostream & Kalman::operator<<	(	std::ostream &	os,
		const KMatrix< T, BEG, DBG > &	M
	)			`[inline]`

Writes a matrix to a stream.

Parameters:

	os	A reference to the output stream.
	M	A reference to the matrix to print.

Returns:: A reference to the output stream.

Note:: This function is equivalent to M.put(os).

Definition at line 474 of file kmatrix_impl.hpp.

template<typename T , K_UINT_32 BEG, bool DBG>

std::istream & Kalman::operator>>	(	std::istream &	is,
		KVector< T, BEG, DBG > &	v
	)			`[inline]`

Reads a vector from a stream.

Parameters:

	is	A reference to the input stream.
	v	A reference to the vector to read.

Returns:: A reference to the input stream.

Note:: This function is equivalent to v.get(is).

Definition at line 317 of file kvector_impl.hpp.

template<typename T , K_UINT_32 BEG, bool DBG>

std::istream & Kalman::operator>>	(	std::istream &	is,
		KMatrix< T, BEG, DBG > &	M
	)			`[inline]`

Reads a matrix from a stream.

Parameters:

	is	A reference to the input stream.
	M	A reference to the matrix to read.

Returns:: A reference to the input stream.

Note:: This function is equivalent to M.get(is).

Definition at line 463 of file kmatrix_impl.hpp.

KMatrixContext Kalman::selectKMatrixContext ( KMatrixContext c )

Selects a matrix printing context as the current context.

Parameters:

c

Handle to the new context to select.

Returns:: The handle to the old context, so that it can be restored if needed.

Warning:: If no context c exists, then nothing will happen.

Definition at line 164 of file kstatics.cpp.

KVectorContext Kalman::selectKVectorContext ( KVectorContext c )

Selects a vector printing context as the current context.

Parameters:

c

Handle to the new context to select.

Returns:: The handle to the old context, so that it can be restored if needed.

Warning:: If no context c exists, then nothing will happen.

Definition at line 103 of file kstatics.cpp.

Variable Documentation

KMatrixContextImpl * Kalman::currentMatrixContext = &matrixContexts[0]

Refers to the currently selected matrix printing context.

Global pointer to the currently selected matrix printing context. Never 0.

Warning:: Never modify this value directly. Use selectKMatrixContext() instead.

Definition at line 116 of file kstatics.cpp.

KVectorContextImpl * Kalman::currentVectorContext = &vectorContexts[0]

Refers to the currently selected vector printing context.

Global pointer to the currently selected vector printing context. Never 0.

Warning:: Never modify this value directly. Use selectKVectorContext() instead.

Definition at line 61 of file kstatics.cpp.

KMatrixContext Kalman::DEFAULT_MATRIX_CONTEXT = 0

Default matrix printing context object.

Global index of the default matrix printing context.

Definition at line 119 of file kstatics.cpp.

KVectorContext Kalman::DEFAULT_VECTOR_CONTEXT = 0

Default vector printing context object.

Global index of the default vector printing context.

Definition at line 64 of file kstatics.cpp.

Kalman Namespace Reference

Namespaces

Classes

Typedefs

Functions

Variables

Detailed Description

Typedef Documentation

Function Documentation

Variable Documentation