#include <simple_plane.h>

Inheritance diagram for cPlaneEKF_sp:

Public Member Functions
	cPlaneEKF_sp ()

Public Member Functions inherited from Kalman::EKFilter< double, 1 >
void	init (Vector &x_, Matrix &P_)
	Sets initial conditions for the Kalman Filter. More...

	EKFilter ()
	Default constructor. More...

	EKFilter (K_UINT_32 n_, K_UINT_32 nu_, K_UINT_32 nw_, K_UINT_32 m_, K_UINT_32 nv_)
	Constructors specifying all necessary matrix and vector dimensions. More...

virtual	~EKFilter ()
	Virtual destructor. More...

K_UINT_32	getSizeX () const
	Returns the size of the state vector. More...

K_UINT_32	getSizeU () const
	Returns the size of the input vector. More...

K_UINT_32	getSizeW () const
	Returns the size of the process noise vector. More...

K_UINT_32	getSizeZ () const
	Returns the size of the measurement vector. More...

K_UINT_32	getSizeV () const
	Returns the size of the measurement noise vector. More...

void	setDim (K_UINT_32 n_, K_UINT_32 nu_, K_UINT_32 nw_, K_UINT_32 m_, K_UINT_32 nv_)
	Sets all dimensions at once. More...

void	setSizeX (K_UINT_32 n_)
	Sets the size of the state vector. More...

void	setSizeU (K_UINT_32 nu_)
	Sets the size of the input vector. More...

void	setSizeW (K_UINT_32 nw_)
	Sets the size of the process noise vector. More...

void	setSizeZ (K_UINT_32 m_)
	Sets the size of the measurement vector. More...

void	setSizeV (K_UINT_32 nv_)
	Sets the size of the measurement noise vector. More...

void	step (Vector &u_, const Vector &z_)
	Makes one prediction-correction step. More...

void	timeUpdateStep (Vector &u_)
	Makes one prediction step. More...

void	measureUpdateStep (const Vector &z_)
	Makes one correction step. More...

const Vector &	predict (Vector &u_)
	Returns the predicted state vector (a priori state estimate). More...

const Vector &	simulate ()
	Returns the predicted measurement vector. More...

const Vector &	getX () const
	Returns the corrected state (a posteriori state estimate). More...

const Matrix &	calculateP () const
	Returns the a posteriori error covariance estimate matrix. More...

Protected Member Functions
void	makeA ()
	Virtual creator of A. More...

void	makeH ()
	Virtual creator of H. More...

void	makeMeasure ()
	Actual measurement function . Fills in z. More...

void	makeProcess ()
	Actual process . Fills in new x by using old x. More...

void	makeQ ()
	Virtual creator of Q. More...

void	makeR ()
	Virtual creator of R. More...

void	makeV ()
	Virtual creator of V. More...

void	makeW ()
	Virtual creator of W. More...

Protected Member Functions inherited from Kalman::EKFilter< double, 1 >
void	NoModification ()
	Allows optimizations on some calculations. More...

virtual void	sizeUpdate ()
	Resizes all vector and matrices. Never call or overload this ! More...

virtual void	makeBaseA ()
	Virtual pre-creator of A. More...

virtual void	makeBaseW ()
	Virtual pre-creator of W. More...

virtual void	makeBaseQ ()
	Virtual pre-creator of Q. More...

virtual void	makeBaseH ()
	Virtual pre-creator of H. More...

virtual void	makeBaseV ()
	Virtual pre-creator of V. More...

virtual void	makeBaseR ()
	Virtual pre-creator of R. More...

virtual void	makeCommonProcess ()
	Optional function used to precalculate common values for process. More...

virtual void	makeCommonMeasure ()
	Optional function used to precalculate common values for measurement. More...

virtual void	makeDZ ()
	Hook-up function to modify innovation vector. More...

Protected Attributes
double	Bfriction

double	Gravity

double	Mass

double	Period

double	Portance

Protected Attributes inherited from Kalman::EKFilter< double, 1 >
Vector	x
	Corrected state vector. More...

Vector	u
	Input vector. More...

Vector	z
	Predicted measurement vector. More...

Vector	dz
	Innovation vector. More...

Matrix	A
	A jacobian matrix. More...

Matrix	W
	A jacobian matrix. More...

Matrix	Q
	Process noise covariance matrix. More...

Matrix	H
	A jacobian matrix. More...

Matrix	V
	A jacobian matrix. More...

Matrix	R
	Measurement noise covariance matrix. More...

K_UINT_32	n
	Size of the state vector. More...

K_UINT_32	nu
	Size of the input vector. More...

K_UINT_32	nw
	Size of the process noise vector. More...

K_UINT_32	m
	Size of the measurement vector. More...

K_UINT_32	nv
	Size of the measurement noise vector. More...

Additional Inherited Members
Public Types inherited from Kalman::EKFilter< double, 1 >
enum

typedef KMatrix< double, BEG, true >	Matrix
	Matrix type. More...

typedef double	type
	Type of objects contained in matrices and vectors. More...

typedef KVector< double, BEG, true >	Vector
	Vector type. More...

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 ( )

protectedvirtual

Virtual creator of A.

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

Definition at line 88 of file simple_plane.cpp.

void cPlaneEKF_sp::makeH ( )

protectedvirtual

Virtual creator of H.

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

Definition at line 131 of file simple_plane.cpp.

void cPlaneEKF_sp::makeMeasure ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

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 ( )

protectedvirtual

Virtual creator of W.

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

Definition at line 111 of file simple_plane.cpp.

Member Data Documentation

double cPlaneEKF_sp::Bfriction

protected

Definition at line 23 of file simple_plane.h.

double cPlaneEKF_sp::Gravity

protected

Definition at line 23 of file simple_plane.h.

double cPlaneEKF_sp::Mass

protected

Definition at line 23 of file simple_plane.h.

double cPlaneEKF_sp::Period

protected

Definition at line 23 of file simple_plane.h.

double cPlaneEKF_sp::Portance

protected

Definition at line 23 of file simple_plane.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation