KalmanFilter Class Reference

#include <MemoryX/libraries/helpers/EarlyVisionHelpers/KalmanFilter.h>

Inheritance diagram for KalmanFilter:

Public Member Functions
Gaussian	filter (const Gaussian &believe, const Eigen::VectorXd &actionU, const Eigen::VectorXd &perceptZ)
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	KalmanFilter ()
Gaussian	predict (const Gaussian &believe, const Eigen::VectorXd &actionU)
void	setMeasurementModel (const Eigen::MatrixXd &measurement_C, const Gaussian &measurement_noise)
void	setMotionModel (const Eigen::MatrixXd &motion_A, const Eigen::MatrixXd &motion_B, const Gaussian &motion_noise)
Gaussian	update (const Gaussian &predicted_believe, const Eigen::VectorXd &perceptZ)

Public Attributes
Eigen::MatrixXd	m_A
Eigen::MatrixXd	m_A_t
Eigen::MatrixXd	m_B
Eigen::MatrixXd	m_C
Eigen::MatrixXd	m_C_t
Gaussian	m_Q
Gaussian	m_R

Detailed Description

Definition at line 27 of file KalmanFilter.h.

Constructor & Destructor Documentation

KalmanFilter()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW KalmanFilter ( )

inline

Definition at line 33 of file KalmanFilter.h.

Member Function Documentation

filter()

Gaussian filter	(	const Gaussian &	believe,
		const Eigen::VectorXd &	actionU,
		const Eigen::VectorXd &	perceptZ
	)

Definition at line 41 of file KalmanFilter.cpp.

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predict()

Gaussian predict	(	const Gaussian &	believe,
		const Eigen::VectorXd &	actionU
	)

Definition at line 52 of file KalmanFilter.cpp.

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setMeasurementModel()

void setMeasurementModel	(	const Eigen::MatrixXd &	measurement_C,
		const Gaussian &	measurement_noise
	)

Parameters

measurement_C	transformation from state space to observation space
measurement_noise	gaussian encoding the observation noise

Definition at line 29 of file KalmanFilter.cpp.

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setMotionModel()

void setMotionModel	(	const Eigen::MatrixXd &	motion_A,
		const Eigen::MatrixXd &	motion_B,
		const Gaussian &	motion_noise
	)

Parameters

motion_A	nxn square matrix being the linear transformation of the state
motion_B	nxm matrix being the transformation from control to state
motion_noise	n dimensional gaussian being the motion noise

Definition at line 19 of file KalmanFilter.cpp.

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update()

Gaussian update	(	const Gaussian &	predicted_believe,
		const Eigen::VectorXd &	perceptZ
	)

Definition at line 63 of file KalmanFilter.cpp.

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Member Data Documentation

m_A

Eigen::MatrixXd m_A

Definition at line 56 of file KalmanFilter.h.

m_A_t

Eigen::MatrixXd m_A_t

Definition at line 59 of file KalmanFilter.h.

m_B

Eigen::MatrixXd m_B

Definition at line 57 of file KalmanFilter.h.

m_C

Eigen::MatrixXd m_C

Definition at line 58 of file KalmanFilter.h.

m_C_t

Eigen::MatrixXd m_C_t

Definition at line 60 of file KalmanFilter.h.

m_Q

Gaussian m_Q

Definition at line 63 of file KalmanFilter.h.

m_R

Gaussian m_R

Definition at line 64 of file KalmanFilter.h.

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

• MemoryX/libraries/helpers/EarlyVisionHelpers/KalmanFilter.h
• MemoryX/libraries/helpers/EarlyVisionHelpers/KalmanFilter.cpp