gcop::Filter< T, _nx, _nu, _np, Tz, _nz > Class Template Reference

#include <filter.h>

List of all members.

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
	Filter (System< T, _nx, _nu, _np > &sys, Sensor< T, _nx, _nu, _np, Tz, _nz > &sensor)
virtual	~Filter ()
virtual bool	Predict (T &xb, double t, const T &xa, const Vectorcd &u, double h, const Vectormd *p=0, bool cov=true)=0
virtual bool	Update (T &xb, double t, const T &xa, const Vectorcd &u, const Tz &z, const Vectormd *p=0, bool cov=true)=0
void	SetChiGate (double chiGate)
double	GetChiGate () const
double	GetChi () const
Public Attributes
System< T, _nx, _nu, _np > &	sys
	system
Sensor< T, _nx, _nu, _np, Tz, _nz > &	sensor
	sensor
double	chi
	computed chi-estimate (computed only if chiGate > 0)
double	chiGate
	chi-gate (default: zero or negative to ignore)

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
class gcop::Filter< T, _nx, _nu, _np, Tz, _nz >

---

Member Typedef Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nu, _nu> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixcd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nu, _nx> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixcnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _np, _np> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixmd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _np, _nx> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixmnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nx, _nu> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixncd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nx, _nx> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixnd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nx, _np> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Matrixnmd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nu, 1> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Vectorcd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _np, 1> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Vectormd

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

typedef Matrix<double, _nx, 1> gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Vectornd

---

Constructor & Destructor Documentation

template<typename T , int _nx, int _nu, int _np, typename Tz , int _nz>

gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Filter	(	System< T, _nx, _nu, _np > &	sys,
		Sensor< T, _nx, _nu, _np, Tz, _nz > &	sensor
	)

Basic Filter

Parameters:

model

system model

template<typename T , int _nx, int _nu, int _np, typename Tz , int _nz>

gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::~Filter

(

)

[virtual]

---

Member Function Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

double gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::GetChi

(

)

const [inline]

Returns the internally computed chi-value during the call to Correct

Returns:

the chi-value of the most recent measurement

References gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::chi.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

double gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::GetChiGate

(

)

const [inline]

Get the preset measurement Chi Gate value

Returns:

chi squared chi bound

References gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::chiGate.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

virtual bool gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Predict	(	T &	xb,
		double	t,
		const T &	xa,
		const Vectorcd &	u,
		double	h,
		const Vectormd *	p = 0,
		bool	cov = true
	)		[pure virtual]

Prediction step.

Parameters:

u	control
cov	whether to update the covariance as well (true by default)

Returns:

predicted state

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

void gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::SetChiGate

(

double

chiGate

)

[inline]

Set measurement Chi Gate

Parameters:

chi	squared chi bound

References gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::chiGate.

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

virtual bool gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::Update	(	T &	xb,
		double	t,
		const T &	xa,
		const Vectorcd &	u,
		const Tz &	z,
		const Vectormd *	p = 0,
		bool	cov = true
	)		[pure virtual]

Correction step. The base implementation does not change the state.

Parameters:

z	measurement
cov	whether to update the covariance as well (true by default)

Returns:

corrected state

---

Member Data Documentation

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

double gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::chi

computed chi-estimate (computed only if chiGate > 0)

Referenced by gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::GetChi().

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

double gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::chiGate

chi-gate (default: zero or negative to ignore)

Referenced by gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::GetChiGate(), and gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::SetChiGate().

template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>

Sensor<T, _nx, _nu, _np, Tz, _nz>& gcop::Filter< 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>

System<T, _nx, _nu, _np>& gcop::Filter< T, _nx, _nu, _np, Tz, _nz >::sys

system

---

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

• lib/est/filter.h
• lib/est/filter.cc