#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>
Public Types | |
| using | AlphaT = Eigen::Matrix< FloatT, 3, 1 > |
| using | ControlNoiseT = typename SystemModelT::ControlNoiseT |
| using | ControlT = typename SystemModelT::ControlT |
| using | dim = typename SystemModelT::dim |
| using | FloatT = typename SystemModelT::FloatT |
| using | ObsCovT = Eigen::Matrix< FloatT, dim::obs, dim::obs > |
| using | ObsT = Eigen::Matrix< FloatT, dim::obs, 1 > |
| using | PropCovT = Eigen::Matrix< FloatT, dim::control, dim::control > |
| using | SigmaPointsT = typename SystemModelT::SigmaPointsT |
| using | StateCovT = Eigen::Matrix< FloatT, dim::state, dim::state > |
| using | StateT = typename SystemModelT::StateT |
Public Member Functions | |
| const StateT & | getCurrentState () const |
| const StateCovT & | getCurrentStateCovariance () const |
| void | propagation (const ControlT &omega, FloatT dt) |
| UnscentedKalmanFilter ()=delete | |
| UnscentedKalmanFilter (const PropCovT &Q, ObsCovT R, const AlphaT &alpha, StateT state0, StateCovT P0) | |
| void | update (const ObsT &y) |
Static Public Attributes | |
| static constexpr float | eps = 10 * std::numeric_limits<float>::epsilon() |
Detailed Description
template<typename SystemModelT>
class UnscentedKalmanFilter< SystemModelT >
Definition at line 37 of file UnscentedKalmanFilter.h.
Member Typedef Documentation
◆ AlphaT
| using AlphaT = Eigen::Matrix<FloatT, 3, 1> |
Definition at line 54 of file UnscentedKalmanFilter.h.
◆ ControlNoiseT
| using ControlNoiseT = typename SystemModelT::ControlNoiseT |
Definition at line 47 of file UnscentedKalmanFilter.h.
◆ ControlT
| using ControlT = typename SystemModelT::ControlT |
Definition at line 45 of file UnscentedKalmanFilter.h.
◆ dim
| using dim = typename SystemModelT::dim |
Definition at line 43 of file UnscentedKalmanFilter.h.
◆ FloatT
| using FloatT = typename SystemModelT::FloatT |
Definition at line 40 of file UnscentedKalmanFilter.h.
◆ ObsCovT
| using ObsCovT = Eigen::Matrix<FloatT, dim::obs, dim::obs> |
Definition at line 53 of file UnscentedKalmanFilter.h.
◆ ObsT
| using ObsT = Eigen::Matrix<FloatT, dim::obs, 1> |
Definition at line 52 of file UnscentedKalmanFilter.h.
◆ PropCovT
| using PropCovT = Eigen::Matrix<FloatT, dim::control, dim::control> |
Definition at line 51 of file UnscentedKalmanFilter.h.
◆ SigmaPointsT
| using SigmaPointsT = typename SystemModelT::SigmaPointsT |
Definition at line 48 of file UnscentedKalmanFilter.h.
◆ StateCovT
| using StateCovT = Eigen::Matrix<FloatT, dim::state, dim::state> |
Definition at line 50 of file UnscentedKalmanFilter.h.
◆ StateT
| using StateT = typename SystemModelT::StateT |
Definition at line 44 of file UnscentedKalmanFilter.h.
Constructor & Destructor Documentation
◆ UnscentedKalmanFilter() [1/2]
| UnscentedKalmanFilter | ( | const PropCovT & | Q, |
| ObsCovT | R, | ||
| const AlphaT & | alpha, | ||
| StateT | state0, | ||
| StateCovT | P0 | ||
| ) |
Definition at line 36 of file UnscentedKalmanFilter.cpp.
◆ UnscentedKalmanFilter() [2/2]
|
delete |
Member Function Documentation
◆ getCurrentState()
| const UnscentedKalmanFilter< SystemModelT >::StateT & getCurrentState |
Definition at line 170 of file UnscentedKalmanFilter.cpp.
Here is the caller graph for this function:◆ getCurrentStateCovariance()
| const UnscentedKalmanFilter< SystemModelT >::StateCovT & getCurrentStateCovariance |
Definition at line 177 of file UnscentedKalmanFilter.cpp.
Here is the caller graph for this function:◆ propagation()
Definition at line 53 of file UnscentedKalmanFilter.cpp.
Here is the call graph for this function: Here is the caller graph for this function:◆ update()
| void update | ( | const ObsT & | y | ) |
Definition at line 121 of file UnscentedKalmanFilter.cpp.
Here is the call graph for this function: Here is the caller graph for this function:Member Data Documentation
◆ eps
Definition at line 41 of file UnscentedKalmanFilter.h.
The documentation for this class was generated from the following files:
- RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h
- RobotAPI/libraries/ukfm/UnscentedKalmanFilter.cpp
