nonholonomic Kalman filter More...
#include <nonholonomicEKFilter.h>
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... | |
nonholonomic Kalman filter
Definition at line 75 of file nonholonomicEKFilter.h.
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Init filter.
Inits the filter with a start vector
x_init | start position of the filter |
Definition at line 120 of file nonholonomicEKFilter.h.
Definition at line 144 of file nonholonomicEKFilter.h.
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Make the process Jacobian matrix.
Definition at line 224 of file nonholonomicEKFilter.h.
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inlineprotected |
Make measurement noise sensitivity matrix.
Definition at line 320 of file nonholonomicEKFilter.h.
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inlineprotected |
Make process noise sensitivity matrix.
Definition at line 312 of file nonholonomicEKFilter.h.
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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.
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inlineprotected |
Make measurement sensitivity matrix.
Definition at line 264 of file nonholonomicEKFilter.h.
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Make measurement, used when measurement is not possible (i'm not using it now)
Definition at line 465 of file nonholonomicEKFilter.h.
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inlineprotected |
Make process, model iteration.
Definition at line 441 of file nonholonomicEKFilter.h.
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inlineprotected |
Make process noise covariance matrix.
Definition at line 397 of file nonholonomicEKFilter.h.
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inlineprotected |
Make measurement noise covariance matrix.
Definition at line 328 of file nonholonomicEKFilter.h.
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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.
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.
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Set a matrix to zero.
Set all elements of a matrix to zero.
This function only works properly in square matrices.
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.
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Time interval between measurements.
Definition at line 204 of file nonholonomicEKFilter.h.
Vector3d nonholonomicEKFilter::inovation_error |
Definition at line 199 of file nonholonomicEKFilter.h.
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Definition at line 208 of file nonholonomicEKFilter.h.
int nonholonomicEKFilter::life_time |
Definition at line 195 of file nonholonomicEKFilter.h.
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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.