Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
nonholonomicEKFilter Class Reference

nonholonomic Kalman filter More...

#include <nonholonomicEKFilter.h>

Inheritance diagram for nonholonomicEKFilter:
Inheritance graph
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Public Member Functions

void InitFilter (Vector5d &x_init)
 Init filter. More...
 
void InitFilter (Vector5d &x_init, Matrix5d &P_init)
 
void SetIdentity (kMatrix &M, int size, double value=1)
 Set a matrix to identity. More...
 
void SetZero (kMatrix &M, int size)
 Set a matrix to zero. More...
 

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. More...
 
void makeBaseV ()
 Make measurement noise sensitivity matrix. More...
 
void makeBaseW ()
 Make process noise sensitivity matrix. More...
 
void makeCommonProcess ()
 This function is called before all other make something functions. More...
 
void makeH ()
 Make measurement sensitivity matrix. More...
 
void makeMeasure ()
 Make measurement, used when measurement is not possible (i'm not using it now) More...
 
void makeProcess ()
 Make process, model iteration. More...
 
void makeQ ()
 Make process noise covariance matrix. More...
 
void makeR ()
 Make measurement noise covariance matrix. More...
 

Protected Attributes

double dt
 Time interval between measurements. More...
 
double l
 
Time lt
 Time of the last call to the makeCommonProcess function. More...
 

Detailed Description

nonholonomic Kalman filter

Definition at line 75 of file nonholonomicEKFilter.h.

Member Function Documentation

void nonholonomicEKFilter::InitFilter ( Vector5d x_init)
inline

Init filter.

Inits the filter with a start vector

Parameters
x_initstart position of the filter

Definition at line 120 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::InitFilter ( Vector5d x_init,
Matrix5d P_init 
)
inline

Definition at line 144 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeA ( )
inlineprotected

Make the process Jacobian matrix.

Definition at line 224 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeBaseV ( )
inlineprotected

Make measurement noise sensitivity matrix.

Definition at line 320 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeBaseW ( )
inlineprotected

Make process noise sensitivity matrix.

Definition at line 312 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeCommonProcess ( )
inlineprotected

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 ( )
inlineprotected

Make measurement sensitivity matrix.

Definition at line 264 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeMeasure ( )
inlineprotected

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 ( )
inlineprotected

Make process, model iteration.

Definition at line 441 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeQ ( )
inlineprotected

Make process noise covariance matrix.

Definition at line 397 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::makeR ( )
inlineprotected

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

Definition at line 88 of file nonholonomicEKFilter.h.

void nonholonomicEKFilter::SetZero ( kMatrix M,
int  size 
)
inline

Set a matrix to zero.

Set all elements of a matrix to zero.
This function only works properly in square matrices.

Parameters
Mmatrix to set
sizesize of the matrix, this should not be needed, i'll remove it in a further expansion

Definition at line 107 of file nonholonomicEKFilter.h.

Member Data Documentation

double nonholonomicEKFilter::dt
protected

Time interval between measurements.

Definition at line 204 of file nonholonomicEKFilter.h.

Vector3d nonholonomicEKFilter::inovation_error

Definition at line 199 of file nonholonomicEKFilter.h.

double nonholonomicEKFilter::l
protected

Definition at line 208 of file nonholonomicEKFilter.h.

int nonholonomicEKFilter::life_time

Definition at line 195 of file nonholonomicEKFilter.h.

Time nonholonomicEKFilter::lt
protected

Time of the last call to the makeCommonProcess function.

Definition at line 206 of file nonholonomicEKFilter.h.

int nonholonomicEKFilter::miss_associations

Definition at line 194 of file nonholonomicEKFilter.h.

Vector5d nonholonomicEKFilter::x_predicted

Definition at line 197 of file nonholonomicEKFilter.h.

Vector3d nonholonomicEKFilter::z_measured

Definition at line 198 of file nonholonomicEKFilter.h.


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


mtt
Author(s): Jorge Almeida
autogenerated on Mon Mar 2 2015 01:32:18