#include <kalmancorrector.h>
Inheritance diagram for gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >:
Collaboration diagram for gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >:
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, _nx, _nz > | Matrixnrd |
| 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 |
| typedef Matrix< double, _nz, 1 > | Vectorrd |
| typedef Matrix< double, _nz, _nz > | Matrixrd |
| typedef Matrix< double, _nz, _nx > | Matrixrnd |
| typedef Matrix< double, _nz, _nu > | Matrixrcd |
| typedef Matrix< double, _nz, _np > | Matrixrmd |
Public Member Functions | |
| KalmanCorrector (Manifold< T, _nx > &X, Sensor< T, _nx, _nu, _np, Tz, _nz > &sensor) | |
| virtual | ~KalmanCorrector () |
| virtual bool | Correct (T &xb, double t, const T &xa, const Vectorcd &u, const Tz &z, const Vectormd *p=0, bool cov=true) |
Public Attributes | |
| Tz | y |
| expected measurement | |
| Vectornd | dx |
| innovation | |
| Vectorrd | dz |
| sensor innovation | |
| Matrixrnd | H |
| measurement Jacobian | |
| Matrixnrd | K |
| correction gain matrix | |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
class gcop::KalmanCorrector< 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::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixcd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nu, _nx> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixcnd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _np, _np> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixmd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _np, _nx> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixmnd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nx, _nu> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixncd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nx, _nx> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixnd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nx, _np> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixnmd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nx, _nz> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixnrd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| typedef Matrix<double, _nz, _nu> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixrcd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| typedef Matrix<double, _nz, _nz> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixrd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| typedef Matrix<double, _nz, _np> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixrmd |
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| typedef Matrix<double, _nz, _nx> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Matrixrnd |
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::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Vectorcd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _np, 1> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Vectormd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nx, 1> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Vectornd |
Reimplemented from gcop::Corrector< 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>
| typedef Matrix<double, _nz, 1> gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::Vectorrd |
Constructor & Destructor Documentation
template<typename T , int _nx, int _nu, int _np, typename Tz , int _nz>
| gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector | ( | Manifold< T, _nx > & | X, |
| Sensor< T, _nx, _nu, _np, Tz, _nz > & | sensor | ||
| ) |
References gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::dx, gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::dz, gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::H, gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::K, gcop::Manifold< T, _n >::n, gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::y, and gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >::Z.
template<typename T , int _nx, int _nu, int _np, typename Tz , int _nz>
| gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::~KalmanCorrector | ( | ) | [virtual] |
Member Function Documentation
template<typename T , int _nx, int _nu, int _np, typename Tz , int _nz>
| bool gcop::KalmanCorrector< 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 |
||
| ) | [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
Implements gcop::Corrector< T, _nx, _nu, _np, Tz, _nz >.
Member Data Documentation
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| Vectornd gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::dx |
innovation
Referenced by gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| Vectorrd gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::dz |
sensor innovation
Referenced by gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| Matrixrnd gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::H |
measurement Jacobian
Referenced by gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| Matrixnrd gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::K |
correction gain matrix
Referenced by gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector().
template<typename T = VectorXd, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, typename Tz = VectorXd, int _nz = Dynamic>
| Tz gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::y |
expected measurement
Referenced by gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector().
The documentation for this class was generated from the following file:
- lib/est/kalmancorrector.h
