constantVelocityEKFilter Class Reference

Constant velocity Kalman filter. More...

#include <mht_types.h>

Public Member Functions
void	InitFilter (Vector4d &x_init, Matrix4d &P_init)
void	InitFilter (Vector4d &x_init)
	Init filter.
void	SetIdentity (kMatrix &M, int size, double value=1)
	Set a matrix to identity.
void	SetZero (kMatrix &M, int size)
	Set a matrix to zero.
Public Attributes
Vector3d	inovation_error
int	life_time
int	miss_associations
Vector4d	x_predicted
Vector3d	z_measured
Protected Member Functions
void	makeA ()
	Make the process Jacobian matrix.
void	makeBaseA ()
	Make the base constant process Jacobian matrix.
void	makeBaseH ()
	Make measurement sensitivity matrix.
void	makeBaseV ()
	Make measurement noise sensitivity matrix.
void	makeBaseW ()
	Make process noise sensitivity matrix.
void	makeCommonProcess ()
	This function is called before all other make something functions.
void	makeMeasure ()
	Make measurement, used when measurement is not possible (i'm not using it now).
void	makeProcess ()
	Make process, model iteration.
void	makeQ ()
	Make process noise covariance matrix.
void	makeR ()
	Make measurement noise covariance matrix.
Protected Attributes
double	dt
	Time interval between measurements.
Time	lt
	Time of the last call to the makeCommonProcess function.

Detailed Description

Constant velocity Kalman filter.

This class implements a constant velocity Kalman filter on two variables (x,y).
This filter is linear and should use KFilter instead of EKFilter, but this way its easier to expand.

$X = \left[ \begin{array}{c} x \\ \\ y\\ \\ \dot x \\ \\ \dot y \end{array} \right ]$

...

Definition at line 103 of file mht_types.h.

Member Function Documentation

void constantVelocityEKFilter::InitFilter	(	Vector4d &	x_init,
		Matrix4d &	P_init
	)

Definition at line 84 of file mht_types.cpp.

void constantVelocityEKFilter::InitFilter ( Vector4d & x_init )

Init filter.

Inits the filter with a start vector

Parameters:

x_init

start position of the filter

Definition at line 54 of file mht_types.cpp.

void constantVelocityEKFilter::makeA ( ) [protected]

Make the process Jacobian matrix.

Definition at line 159 of file mht_types.cpp.

void constantVelocityEKFilter::makeBaseA ( ) [protected]

Make the base constant process Jacobian matrix.

Definition at line 136 of file mht_types.cpp.

void constantVelocityEKFilter::makeBaseH ( ) [protected]

Make measurement sensitivity matrix.

Definition at line 165 of file mht_types.cpp.

void constantVelocityEKFilter::makeBaseV ( ) [protected]

Make measurement noise sensitivity matrix.

Definition at line 178 of file mht_types.cpp.

void constantVelocityEKFilter::makeBaseW ( ) [protected]

Make process noise sensitivity matrix.

Definition at line 173 of file mht_types.cpp.

void constantVelocityEKFilter::makeCommonProcess ( ) [protected]

This function is called before all other make something functions.

It's currently being used to update the time interval between iterations (dt).

Definition at line 131 of file mht_types.cpp.

void constantVelocityEKFilter::makeMeasure ( ) [protected]

Make measurement, used when measurement is not possible (i'm not using it now).

Definition at line 338 of file mht_types.cpp.

void constantVelocityEKFilter::makeProcess ( ) [protected]

Make process, model iteration.

Definition at line 326 of file mht_types.cpp.

void constantVelocityEKFilter::makeQ ( ) [protected]

Make process noise covariance matrix.

Definition at line 290 of file mht_types.cpp.

void constantVelocityEKFilter::makeR ( ) [protected]

Make measurement noise covariance matrix.

Definition at line 183 of file mht_types.cpp.

void constantVelocityEKFilter::SetIdentity	(	kMatrix &	M,
		int	size,
		double	value = `1`
	)

Set a matrix to identity.

Set diagonal elements to 1 or the input parameter value and all others to 0.
This function only works properly in square matrices.

Parameters:

	M	matrix to set
	size	size of the matrix, this should not be needed, i'll remove it in a further expansion
	value	optional value for the diagonal elements, default is 1