nonholonomicEKFilter Class Reference

nonholonomic Kalman filter More...

#include <nonholonomicEKFilter.h>

Public Member Functions
void	InitFilter (Vector5d &x_init, Matrix5d &P_init)
void	InitFilter (Vector5d &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
Vector5d	x_predicted
Vector3d	z_measured
Protected Member Functions
void	makeA ()
	Make the process Jacobian 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	makeH ()
	Make measurement sensitivity matrix.
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.
double	l
Time	lt
	Time of the last call to the makeCommonProcess function.

Detailed Description

nonholonomic Kalman filter

Definition at line 75 of file nonholonomicEKFilter.h.

Member Function Documentation

void nonholonomicEKFilter::InitFilter	(	Vector5d &	x_init,
		Matrix5d &	P_init
	)			`[inline]`

Definition at line 144 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::InitFilter ( Vector5d & x_init ) [inline]

Init filter.

Inits the filter with a start vector

Parameters:

x_init

start position of the filter

Definition at line 120 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeA ( ) [inline, protected]

Make the process Jacobian matrix.

Definition at line 224 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeBaseV ( ) [inline, protected]

Make measurement noise sensitivity matrix.

Definition at line 320 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeBaseW ( ) [inline, protected]

Make process noise sensitivity matrix.

Definition at line 312 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeCommonProcess ( ) [inline, 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 215 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeH ( ) [inline, protected]

Make measurement sensitivity matrix.

Definition at line 264 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeMeasure ( ) [inline, protected]

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

Definition at line 465 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeProcess ( ) [inline, protected]

Make process, model iteration.

Definition at line 441 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeQ ( ) [inline, protected]

Make process noise covariance matrix.

Definition at line 397 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeR ( ) [inline, protected]

Make measurement noise covariance matrix.

Definition at line 328 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::SetIdentity	(	kMatrix &	M,
		int	size,
		double	value = `1`
	)			`[inline]`

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

Definition at line 88 of file nonholonomicEKFilter.h.