UnscentedKalmanFilter< SystemModelT > Class Template Reference

#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 36 of file UnscentedKalmanFilter.h.

Member Typedef Documentation

AlphaT

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

Definition at line 53 of file UnscentedKalmanFilter.h.

ControlNoiseT

using ControlNoiseT = typename SystemModelT::ControlNoiseT

Definition at line 46 of file UnscentedKalmanFilter.h.

ControlT

using ControlT = typename SystemModelT::ControlT

Definition at line 44 of file UnscentedKalmanFilter.h.

dim

using dim = typename SystemModelT::dim

Definition at line 42 of file UnscentedKalmanFilter.h.

FloatT

using FloatT = typename SystemModelT::FloatT

Definition at line 39 of file UnscentedKalmanFilter.h.

ObsCovT

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

Definition at line 52 of file UnscentedKalmanFilter.h.

ObsT

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

Definition at line 51 of file UnscentedKalmanFilter.h.

PropCovT

using PropCovT = Eigen::Matrix<FloatT, dim::control, dim::control>

Definition at line 50 of file UnscentedKalmanFilter.h.

SigmaPointsT

using SigmaPointsT = typename SystemModelT::SigmaPointsT

Definition at line 47 of file UnscentedKalmanFilter.h.

StateCovT

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

Definition at line 49 of file UnscentedKalmanFilter.h.

StateT

using StateT = typename SystemModelT::StateT

Definition at line 43 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]

UnscentedKalmanFilter ( )

delete

Member Function Documentation

getCurrentState()

const UnscentedKalmanFilter< SystemModelT >::StateT & getCurrentState

Definition at line 170 of file UnscentedKalmanFilter.cpp.

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getCurrentStateCovariance()

const UnscentedKalmanFilter< SystemModelT >::StateCovT & getCurrentStateCovariance

Definition at line 177 of file UnscentedKalmanFilter.cpp.

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propagation()

void propagation	(	const ControlT &	omega,
		FloatT	dt
	)

Definition at line 53 of file UnscentedKalmanFilter.cpp.

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update()

void update

(

const ObsT &

y

)

Definition at line 121 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 40 of file UnscentedKalmanFilter.h.

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

• RobotAPI/libraries/ukfm/UnscentedKalmanFilter.h
• RobotAPI/libraries/ukfm/UnscentedKalmanFilter.cpp