Nonholonomic Motion model abstraction layer. More...

#include <motionModel.h>

Inheritance diagram for MotionModel:

Public Member Functions
void	initEstimator (Vector5d &x, Matrix5d &P)

void	initEstimator (Vector3d &z)

void	initFilter (Point measurement)

void	makeA ()
	Make the process Jacobian matrix. More...

void	makeBaseV ()
	Make measurement noise sensitivity matrix. More...

void	makeBaseW ()

void	makeH ()

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

void	makeProcess ()

void	makeQ ()
	Make process noise covariance matrix. More...

void	makeR ()

	MotionModel ()

	MotionModel ()

void	setIdentity (kMatrix &M, int size, double value=1)

void	stepEstimator (Vector3d z)

void	stepEstimator (Vector2d measurement)

Public Attributes
nonholonomicEKFilter	_estimator
	Local estimator for process, Kalman filter with a constant velocity. More...

Matrix5d	_P
	Posteriori error covariance. More...

Vector5d	_x
	Estimated state. More...

Vector5d	_xp
	Predicted x. More...

Vector3d	_z
	Measurement vector. More...

double	dt

Vector2d	inovation_error

Matrix4d	PosteriorCovariance

Vector4d	x_estimated

Vector4d	x_predicted

Detailed Description

Nonholonomic Motion model abstraction layer.

This class encapsulates the underlaying motion model used. It provides an abstraction layer for the Mht class to work with, without having to deal with the Kalman filter directly.

Definition at line 46 of file motionModel.h.

Constructor & Destructor Documentation

MotionModel::MotionModel ( )

Definition at line 34 of file motionModel.cpp.

MotionModel::MotionModel ( )

inline

Definition at line 213 of file gnn.cpp.

Member Function Documentation

void MotionModel::initEstimator	(	Vector5d &	x,
		Matrix5d &	P
	)

Definition at line 42 of file motionModel.cpp.

void MotionModel::initEstimator ( Vector3d & z )

Definition at line 48 of file motionModel.cpp.

void MotionModel::initFilter ( Point measurement )

inline

Definition at line 227 of file gnn.cpp.

void MotionModel::makeA ( )

inline

Make the process Jacobian matrix.

Definition at line 307 of file gnn.cpp.

void MotionModel::makeBaseV ( )

inline

Make measurement noise sensitivity matrix.

Definition at line 348 of file gnn.cpp.

void MotionModel::makeBaseW ( )

inline

Definition at line 340 of file gnn.cpp.

void MotionModel::makeH ( )

inline

Definition at line 331 of file gnn.cpp.

void MotionModel::makeMeasure ( )

inline

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

Definition at line 420 of file gnn.cpp.

void MotionModel::makeProcess ( )

inline

Definition at line 395 of file gnn.cpp.

void MotionModel::makeQ ( )

inline

Make process noise covariance matrix.

Definition at line 365 of file gnn.cpp.

void MotionModel::makeR ( )

inline

Definition at line 353 of file gnn.cpp.

void MotionModel::setIdentity	(	kMatrix &	M,
		int	size,
		double	value = `1`
	)

inline

Definition at line 217 of file gnn.cpp.

void MotionModel::stepEstimator ( Vector3d z )

Definition at line 99 of file motionModel.cpp.

void MotionModel::stepEstimator ( Vector2d measurement )

inline

Definition at line 247 of file gnn.cpp.

Member Data Documentation

nonholonomicEKFilter MotionModel::_estimator

Local estimator for process, Kalman filter with a constant velocity.

Definition at line 59 of file motionModel.h.

Matrix5d MotionModel::_P

Posteriori error covariance.

Definition at line 56 of file motionModel.h.

Vector5d MotionModel::_x

Estimated state.

Definition at line 50 of file motionModel.h.

Vector5d MotionModel::_xp

Predicted x.

Definition at line 52 of file motionModel.h.

Vector3d MotionModel::_z

Measurement vector.

Definition at line 54 of file motionModel.h.

double MotionModel::dt

Definition at line 208 of file gnn.cpp.

Vector2d MotionModel::inovation_error

Definition at line 209 of file gnn.cpp.

Matrix4d MotionModel::PosteriorCovariance

Definition at line 212 of file gnn.cpp.

Vector4d MotionModel::x_estimated

Definition at line 211 of file gnn.cpp.

Vector4d MotionModel::x_predicted

Definition at line 210 of file gnn.cpp.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation