GCOP: gcop::UnscentedBase< T, _nx > Class Template Reference

GCOP 1.0

#include <unscentedbase.h>

Inheritance diagram for gcop::UnscentedBase< T, _nx >:

Inheritance graph

Collaboration diagram for gcop::UnscentedBase< T, _nx >:

Collaboration graph

List of all members.

Public Types
typedef Matrix< double, _nx, 1 >	Vectornd
typedef Matrix< double, _nx, _nx >	Matrixnd
Public Member Functions
	UnscentedBase (Manifold< T, _nx > &X)
virtual	~UnscentedBase ()
void	Points (vector< T > &xs, const T &x)
Public Attributes
Manifold< T, _nx > &	X
	manifold
double	a
	UKF $\alpha$ -param (a=1e-3 by default)
double	k
	UKF $\kappa$ -param (k=0 by default)
double	b
	UKF $\beta$ -param (b=2 by default)
Protected Attributes
int	L
	number of sigma points (this is set internally to 2*model.nr + 1
double	l
	the variable
vector< T >	Xs
	state sigma points
vector< double >	Ws
	points weights
vector< double >	Wc
	cov update weights
Matrixnd	A
	cholesky factor

template<typename T = VectorXd, int _nx = Dynamic>
class gcop::UnscentedBase< T, _nx >

Member Typedef Documentation

template<typename T = VectorXd, int _nx = Dynamic>

typedef Matrix<double, _nx, _nx> gcop::UnscentedBase< T, _nx >::Matrixnd

Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::UnscentedPredictor< T, _nx, _nu, _np >.

template<typename T = VectorXd, int _nx = Dynamic>

typedef Matrix<double, _nx, 1> gcop::UnscentedBase< T, _nx >::Vectornd

Reimplemented in gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >, and gcop::UnscentedPredictor< T, _nx, _nu, _np >.

Constructor & Destructor Documentation

template<typename T , int _nx>

gcop::UnscentedBase< T, _nx >::UnscentedBase ( Manifold< T, _nx > & X )

References gcop::UnscentedBase< T, _nx >::a, gcop::UnscentedBase< T, _nx >::A, gcop::UnscentedBase< T, _nx >::b, gcop::UnscentedBase< T, _nx >::k, gcop::UnscentedBase< T, _nx >::L, gcop::UnscentedBase< T, _nx >::l, gcop::Manifold< T, _n >::n, gcop::UnscentedBase< T, _nx >::Wc, and gcop::UnscentedBase< T, _nx >::Ws.

template<typename T , int _nx>

gcop::UnscentedBase< T, _nx >::~UnscentedBase ( ) [virtual]

Member Function Documentation

template<typename T , int _nx>

void gcop::UnscentedBase< T, _nx >::Points	(	vector< T > &	xs,
		const T &	x
	)

Compute 2*L+1 sigma points given mean x and spread A

Parameters:

Xs	a vector of 2*L+1 states
x	mean state
A	the square root of the covariance

Member Data Documentation

template<typename T = VectorXd, int _nx = Dynamic>

double gcop::UnscentedBase< T, _nx >::a

UKF $\alpha$ -param (a=1e-3 by default)

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

Matrixnd gcop::UnscentedBase< T, _nx >::A [protected]

cholesky factor

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

double gcop::UnscentedBase< T, _nx >::b

UKF $\beta$ -param (b=2 by default)

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

double gcop::UnscentedBase< T, _nx >::k

UKF $\kappa$ -param (k=0 by default)

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

int gcop::UnscentedBase< T, _nx >::L [protected]

number of sigma points (this is set internally to 2*model.nr + 1

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

double gcop::UnscentedBase< T, _nx >::l [protected]

the variable $ l = a^2(L+k)-L $

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

vector<double> gcop::UnscentedBase< T, _nx >::Wc [protected]

cov update weights

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

vector<double> gcop::UnscentedBase< T, _nx >::Ws [protected]

points weights

Referenced by gcop::UnscentedBase< T, _nx >::UnscentedBase().

template<typename T = VectorXd, int _nx = Dynamic>

Manifold<T, _nx>& gcop::UnscentedBase< T, _nx >::X

manifold

template<typename T = VectorXd, int _nx = Dynamic>

vector<T> gcop::UnscentedBase< T, _nx >::Xs [protected]

state sigma points

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

lib/est/unscentedbase.h