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

#include <unscentedcorrector.h>

Inheritance diagram for gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >:

Collaboration diagram for gcop::UnscentedCorrector< 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, _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
	UnscentedCorrector (System< T, _nx, _nu, _np > &sys, Sensor< T, _nx, _nu, _np, Tz, _nz > &sensor)
virtual	~UnscentedCorrector ()
virtual bool	Correct (T &xb, double t, const T &xa, const Vectorcd &u, const Tz &z, const Vectormd *p=0, bool cov=true)
Protected Attributes
vector< Tz >	Zs
	measurement sigma points
Matrixrd	Pzz
	internally used covariances
Matrixnrd	Pxz
	internally used covariances

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

---

Constructor & Destructor Documentation

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

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

References gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::Pxz, gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::Pzz, gcop::System< T, _nx, _nu, _np >::X, and gcop::Sensor< T, _nx, _nu, _np, Tz, _nz >::Z.

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

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

(

)

[virtual]

---

Member Function Documentation

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

bool gcop::UnscentedCorrector< 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>

Matrixnrd gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::Pxz [protected]

internally used covariances

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

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

Matrixrd gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::Pzz [protected]

internally used covariances

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

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

vector<Tz> gcop::UnscentedCorrector< T, _nx, _nu, _np, Tz, _nz >::Zs [protected]

measurement sigma points

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

• lib/est/unscentedcorrector.h