Public Types |
typedef Matrix< double, _nx, 1 > | Vectornd |
typedef Matrix< double, _nu, 1 > | Vectorcd |
typedef Matrix< double, _np, 1 > | Vectormd |
typedef Matrix< double, _nx, _nx > | Matrixnd |
typedef Matrix< double, _nx, _nu > | Matrixncd |
typedef Matrix< double, _nu, _nx > | Matrixcnd |
typedef Matrix< double, _nu, _nu > | Matrixcd |
typedef Matrix< double, _np, _np > | Matrixmd |
typedef Matrix< double, _nx, _np > | Matrixnmd |
typedef Matrix< double, _np, _nx > | Matrixmnd |
Public Member Functions |
| Corrector (Manifold< T, _nx > &X, Sensor< T, _nx, _nu, _np, Tz, _nz > &sensor) |
virtual | ~Corrector () |
virtual bool | Correct (T &xb, double t, const T &xa, const Vectorcd &u, const Tz &z, const Vectormd *p=0, bool cov=true)=0 |
Public Attributes |
Manifold< T, _nx > & | X |
| system
|
Sensor< T, _nx, _nu, _np, Tz,
_nz > & | sensor |
| sensor
|
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
virtual bool gcop::Corrector< T, _nx, _nu, _np, Tz, _nz >::Correct |
( |
T & |
xb, |
|
|
double |
t, |
|
|
const T & |
xa, |
|
|
const Vectorcd & |
u, |
|
|
const Tz & |
z, |
|
|
const Vectormd * |
p = 0 , |
|
|
bool |
cov = true |
|
) |
| [pure virtual] |
Correction step.
- Parameters:
-
xb | new belief state |
t | time |
xa | previous belief state |
u | control inputs |
z | measurement |
p | parameters (optional) |
cov | whether to update the covariance as well (true by default) |
- Returns:
- true if success
Implemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >.