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

#include <sensor.h>

Collaboration diagram for gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >:

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
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
	Sensor (Manifold< Tz, _nz > &Z)
virtual bool	operator() (Tz &y, double t, const T &x, const Vectorcd &u, const Vectormd *p=0, Matrixrnd *dydx=0, Matrixrcd *dydu=0, Matrixrmd *dydp=0)
Public Attributes
Manifold< Tz, _nz > &	Z
	measurement manifold
Matrixrd	R
	sensor noise covariance

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Detailed Description

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

General sensor model

Subclasses should provide implementation for the sensor function ()

Author: Marin Kobilarov marin(at)jhu.edu

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

Reimplemented in gcop::Gps< Point3dState, 6, _nu, _np >, gcop::InsGps< _nu, _np >, and gcop::Point3dGps< _nu, _np >.

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::Sensor< 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::Sensor< T, _nx, _nu, _np, Tz, _nz >::Matrixrmd

Reimplemented in gcop::Gps< Point3dState, 6, _nu, _np >, gcop::InsGps< _nu, _np >, and gcop::Point3dGps< _nu, _np >.

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::Sensor< 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::Sensor< T, _nx, _nu, _np, Tz, _nz >::Vectorcd

Reimplemented in gcop::Gps< Point3dState, 6, _nu, _np >, gcop::InsImu< _nz, _nu, _np >, gcop::InsGps< _nu, _np >, gcop::Point3dGps< _nu, _np >, and gcop::ImuSensor< _nz, _nu, _np >.

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::Sensor< T, _nx, _nu, _np, Tz, _nz >::Vectormd

Reimplemented in gcop::Gps< Point3dState, 6, _nu, _np >, gcop::InsImu< _nz, _nu, _np >, gcop::InsGps< _nu, _np >, gcop::Point3dGps< _nu, _np >, and gcop::ImuSensor< _nz, _nu, _np >.

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::Sensor< T, _nx, _nu, _np, Tz, _nz >::Vectornd

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::Sensor< T, _nx, _nu, _np, Tz, _nz >::Vectorrd

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Constructor & Destructor Documentation

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

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

(

Manifold< Tz, _nz > &

Z

)

References gcop::Manifold< T, _n >::n, and gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >::R.

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Member Function Documentation

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

bool gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >::operator()	(	Tz &	y,
		double	t,
		const T &	x,
		const Vectorcd &	u,
		const Vectormd *	p = 0,
		Matrixrnd *	dydx = 0,
		Matrixrcd *	dydu = 0,
		Matrixrmd *	dydp = 0
	)		[virtual]

Measurement functions

Parameters:

y	deterministic output (i.e. the actual random measurement is z = y + v, where the noise v is Normal(0,var) )
t	current time
x	current state
u	control inputs (often not used)
p	static parameters (optional)
dydx	jacobian w.r.t. x (optional)
dydu	jacobian w.r.t. u (optional)
dydp	jacobian w.r.t. p (optional)

Returns:

true if all variables are feasible

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Member Data Documentation

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

Matrixrd gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >::R

sensor noise covariance

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

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

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

measurement manifold

Referenced by gcop::Doep< T, nx, nu, np, Tz, nz, T1, nx1 >::Doep(), gcop::KalmanCorrector< T, _nx, _nu, _np, Tz, _nz >::KalmanCorrector(), and gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::UnscentedCorrector().

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

• lib/systems/sensors/sensor.h