UnscentedKalmanFilter< SystemModelT > Class Template Reference

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

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

Member Typedef Documentation

AlphaT

template<typename SystemModelT>

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

ControlNoiseT

template<typename SystemModelT>

using ControlNoiseT

Initial value:

 
        typename SystemModelT::ControlNoiseT

ControlT

template<typename SystemModelT>

using ControlT = typename SystemModelT::ControlT

dim

template<typename SystemModelT>

using dim = typename SystemModelT::dim

FloatT

template<typename SystemModelT>

using FloatT = typename SystemModelT::FloatT

ObsCovT

template<typename SystemModelT>

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

ObsT

template<typename SystemModelT>

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

PropCovT

template<typename SystemModelT>

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

SigmaPointsT

template<typename SystemModelT>

using SigmaPointsT = typename SystemModelT::SigmaPointsT

StateCovT

template<typename SystemModelT>

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

StateT

template<typename SystemModelT>

using StateT = typename SystemModelT::StateT

Constructor & Destructor Documentation

UnscentedKalmanFilter() [1/2]

template<typename SystemModelT>

UnscentedKalmanFilter	(	const PropCovT &	Q,
		ObsCovT	R,
		const AlphaT &	alpha,
		StateT	state0,
		StateCovT	P0 )

UnscentedKalmanFilter() [2/2]

template<typename SystemModelT>

UnscentedKalmanFilter ( )

delete

Member Function Documentation

getCurrentState()

template<typename SystemModelT>

const UnscentedKalmanFilter< SystemModelT >::StateT & getCurrentState

(

)

const

getCurrentStateCovariance()

template<typename SystemModelT>

const UnscentedKalmanFilter< SystemModelT >::StateCovT & getCurrentStateCovariance

(

)

const

propagation()

template<typename SystemModelT>

void propagation	(	const ControlT &	omega,
		FloatT	dt )

update()

template<typename SystemModelT>

void update

(

const ObsT &

y

)

Member Data Documentation

eps

template<typename SystemModelT>

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

staticconstexpr

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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