nonholonomicEKFilter Class Reference

nonholonomic Kalman filter More...

#include <nonholonomicEKFilter.h>

Inheritance diagram for nonholonomicEKFilter:

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_init

start 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

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.

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

M	matrix to set
size	size 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.

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

• nonholonomicEKFilter.h