List of all members | Public Types | Public Member Functions | Static Public Attributes
UnscentedKalmanFilterWithoutControl< SystemModelT > Class Template Reference

#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 99 of file UnscentedKalmanFilter.h.

Member Typedef Documentation

◆ AlphaT

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

Definition at line 112 of file UnscentedKalmanFilter.h.

◆ dim

template<typename SystemModelT>
using dim = typename SystemModelT::dim

Definition at line 105 of file UnscentedKalmanFilter.h.

◆ FloatT

template<typename SystemModelT>
using FloatT = typename SystemModelT::FloatT

Definition at line 102 of file UnscentedKalmanFilter.h.

◆ ObsCovT

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

Definition at line 111 of file UnscentedKalmanFilter.h.

◆ ObsT

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

Definition at line 110 of file UnscentedKalmanFilter.h.

◆ SigmaPointsT

template<typename SystemModelT>
using SigmaPointsT = typename SystemModelT::SigmaPointsT

Definition at line 107 of file UnscentedKalmanFilter.h.

◆ StateCovT

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

Definition at line 109 of file UnscentedKalmanFilter.h.

◆ StateT

template<typename SystemModelT>
using StateT = typename SystemModelT::StateT

Definition at line 106 of file UnscentedKalmanFilter.h.

Constructor & Destructor Documentation

◆ UnscentedKalmanFilterWithoutControl() [1/2]

template<typename SystemModelT>
UnscentedKalmanFilterWithoutControl ( ObsCovT R,
const AlphaT & alpha,
StateT state0,
StateCovT P0 )

Definition at line 225 of file UnscentedKalmanFilter.cpp.

◆ UnscentedKalmanFilterWithoutControl() [2/2]

template<typename SystemModelT>
UnscentedKalmanFilterWithoutControl ( )
delete

Member Function Documentation

◆ getCurrentState()

template<typename SystemModelT>
const UnscentedKalmanFilterWithoutControl< SystemModelT >::StateT & getCurrentState ( ) const

Definition at line 354 of file UnscentedKalmanFilter.cpp.

◆ getCurrentStateCovariance()

template<typename SystemModelT>
const UnscentedKalmanFilterWithoutControl< SystemModelT >::StateCovT & getCurrentStateCovariance ( ) const

Definition at line 361 of file UnscentedKalmanFilter.cpp.

◆ propagation()

template<typename SystemModelT>
void propagation ( FloatT dt)

Definition at line 236 of file UnscentedKalmanFilter.cpp.

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◆ update()

template<typename SystemModelT>
void update ( const ObsT & y)

Definition at line 302 of file UnscentedKalmanFilter.cpp.

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Member Data Documentation

◆ eps

template<typename SystemModelT>
float eps = 10 * std::numeric_limits<float>::epsilon()
staticconstexpr

Definition at line 103 of file UnscentedKalmanFilter.h.

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