Observer Class Reference
[Egomotiongpsimu]

#include <egomotiongpsimu.h>

Public Member Functions
	Observer ()
	Constructor for the Observer.
	~Observer ()
RealMatrix	NlinObsStateUpdateV1 (RealMatrix Measurements, Real Tb, Real deltaT)
	performs the state updates.
void	NlinObsSetGain ()
	set the values of the gain in the transformed reference. Must be called before any state update.
void	NlinObsChooseGainOnGPSValidity (bool GPSisValid)
	Chooses the gain to apply as function of the validity of GPS data.
void	NlinObsSetK (const char *ktype, double kval)
	set the values of the gain in the nontransformed reference frame
void	CalcRotationMatrix (double psi, double theta, double phi)
	Calculates all the necessary rotation matrices as function of car pose.
void	NlinObsSetInitalCondition (RealMatrix Measurements)
	sets the initial conditions.
Private Attributes
RealMatrix	k11
RealMatrix	k12
RealMatrix	k21
RealMatrix	k22
RealMatrix	k31
RealMatrix	k32
RealMatrix	Gain
RealMatrix	GainWGPS
RealMatrix	GainWOGPS
RealMatrix	State
RealMatrix	StateDot
RealMatrix	Residual
bool	GPSisValid
RealMatrix	R33_b2n
RealMatrix	R33_n2b
RealMatrix	T33_b2n

Constructor & Destructor Documentation

Observer::~Observer ( ) [inline]

RealMatrix Observer::Gain [private]

Referenced by Observer().

RealMatrix Observer::GainWGPS [private]

Referenced by Observer().

RealMatrix Observer::GainWOGPS [private]

Referenced by Observer().

RealMatrix Observer::k11 [private]

Referenced by NlinObsSetK().

RealMatrix Observer::k12 [private]

Referenced by NlinObsSetK().

RealMatrix Observer::k21 [private]

Referenced by NlinObsSetK().

RealMatrix Observer::k22 [private]

Referenced by NlinObsSetK().

RealMatrix Observer::k31 [private]

Referenced by NlinObsSetK().

RealMatrix Observer::k32 [private]

Referenced by NlinObsSetK().

RealMatrix Observer::R33_b2n [private]

RealMatrix Observer::R33_n2b [private]

RealMatrix Observer::Residual [private]

Referenced by Observer().

RealMatrix Observer::State [private]

Referenced by Observer().

RealMatrix Observer::StateDot [private]

Referenced by Observer().

RealMatrix Observer::T33_b2n [private]

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