#include <RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h>

Public Types
using	AlphaT = Eigen::Matrix< FloatT, 3, 1 >

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	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 (FloatT dt)

	UnscentedKalmanFilterWithoutControl ()=delete

	UnscentedKalmanFilterWithoutControl (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 UnscentedKalmanFilterWithoutControl< SystemModelT >

Definition at line 102 of file UnscentedKalmanFilter.h.

Member Typedef Documentation

◆ AlphaT

using AlphaT = Eigen::Matrix<FloatT, 3, 1>

Definition at line 115 of file UnscentedKalmanFilter.h.

◆ dim

using dim = typename SystemModelT::dim

Definition at line 108 of file UnscentedKalmanFilter.h.

◆ FloatT

using FloatT = typename SystemModelT::FloatT

Definition at line 105 of file UnscentedKalmanFilter.h.

◆ ObsCovT

using ObsCovT = Eigen::Matrix<FloatT, dim::obs, dim::obs>

Definition at line 114 of file UnscentedKalmanFilter.h.

◆ ObsT

using ObsT = Eigen::Matrix<FloatT, dim::obs, 1>

Definition at line 113 of file UnscentedKalmanFilter.h.

◆ SigmaPointsT

using SigmaPointsT = typename SystemModelT::SigmaPointsT

Definition at line 110 of file UnscentedKalmanFilter.h.

◆ StateCovT

using StateCovT = Eigen::Matrix<FloatT, dim::state, dim::state>

Definition at line 112 of file UnscentedKalmanFilter.h.

◆ StateT

using StateT = typename SystemModelT::StateT

Definition at line 109 of file UnscentedKalmanFilter.h.

Constructor & Destructor Documentation

◆ UnscentedKalmanFilterWithoutControl() [1/2]

UnscentedKalmanFilterWithoutControl	(	ObsCovT	R,
		const AlphaT &	alpha,
		StateT	state0,
		StateCovT	P0
	)

Definition at line 227 of file UnscentedKalmanFilter.cpp.

◆ UnscentedKalmanFilterWithoutControl() [2/2]

UnscentedKalmanFilterWithoutControl ( )

delete

Member Function Documentation

◆ getCurrentState()

const UnscentedKalmanFilterWithoutControl< SystemModelT >::StateT & getCurrentState

Definition at line 362 of file UnscentedKalmanFilter.cpp.

◆ getCurrentStateCovariance()

const UnscentedKalmanFilterWithoutControl< SystemModelT >::StateCovT & getCurrentStateCovariance

Definition at line 369 of file UnscentedKalmanFilter.cpp.

◆ propagation()

void propagation ( FloatT dt )

Definition at line 242 of file UnscentedKalmanFilter.cpp.

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◆ update()

void update ( const ObsT & y )

Definition at line 310 of file UnscentedKalmanFilter.cpp.

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Member Data Documentation

◆ eps

constexpr float eps = 10 * std::numeric_limits<float>::epsilon()

staticconstexpr

Definition at line 106 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

Public Types

Public Member Functions

Static Public Attributes