dynamicgraph::sot::Kalman Class Reference

#include <sot/core/kalman.hh>

Inheritance diagram for dynamicgraph::sot::Kalman:
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Public Member Functions

virtual const std::string & getClassName (void) const
 
virtual std::string getDocString () const
 
 Kalman (const std::string &name)
 
void display (std::ostream &os) const
 
void commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
 
- Public Member Functions inherited from dynamicgraph::Entity
 Entity (const std::string &name)
 
virtual ~Entity ()
 
const std::string & getName () const
 
bool hasSignal (const std::string &signame) const
 
SignalBase< int > & getSignal (const std::string &signalName)
 
const SignalBase< int > & getSignal (const std::string &signalName) const
 
std::ostream & displaySignalList (std::ostream &os) const
 
virtual std::ostream & writeGraph (std::ostream &os) const
 
virtual std::ostream & writeCompletionList (std::ostream &os) const
 
virtual SignalBase< int > * test ()
 
virtual void test2 (SignalBase< int > *)
 
const std::string & getCommandList () const
 
CommandMap_t getNewStyleCommandMap ()
 
command::CommandgetNewStyleCommand (const std::string &cmdName)
 
SignalMap getSignalMap () const
 

Public Attributes

SignalPtr< Vector, int > measureSIN
 
SignalPtr< Matrix, int > modelTransitionSIN
 
SignalPtr< Matrix, int > modelMeasureSIN
 
SignalPtr< Matrix, int > noiseTransitionSIN
 
SignalPtr< Matrix, int > noiseMeasureSIN
 
SignalPtr< Vector, int > statePredictedSIN
 
SignalPtr< Vector, int > observationPredictedSIN
 
SignalTimeDependent< Matrix, int > varianceUpdateSOUT
 
SignalTimeDependent< Vector, int > stateUpdateSOUT
 
SignalTimeDependent< Matrix, int > gainSINTERN
 
SignalTimeDependent< Matrix, int > innovationSINTERN
 

Static Public Attributes

static const std::string CLASS_NAME
 

Protected Member Functions

MatrixcomputeVarianceUpdate (Matrix &P_k_k, const int &time)
 
VectorcomputeStateUpdate (Vector &x_est, const int &time)
 
void setStateEstimation (const Vector &x0)
 
void setStateVariance (const Matrix &P0)
 
- Protected Member Functions inherited from dynamicgraph::Entity
void addCommand (const std::string &name, command::Command *command)
 
void entityRegistration ()
 
void entityDeregistration ()
 
void signalRegistration (const SignalArray< int > &signals)
 
void signalDeregistration (const std::string &name)
 

Protected Attributes

unsigned int size_state
 
unsigned int size_measure
 
double dt
 
Vector stateEstimation_
 
Matrix stateVariance_
 
Vector z_
 
Matrix FP_
 
Matrix Pk_k_1_
 
Matrix S_
 
Matrix K_
 
- Protected Attributes inherited from dynamicgraph::Entity
std::string name
 
SignalMap signalMap
 
CommandMap_t commandMap
 

Additional Inherited Members

- Public Types inherited from dynamicgraph::Entity
typedef std::map< std::string, SignalBase< int > * > SignalMap
 
typedef std::map< const std::string, command::Command *> CommandMap_t
 

Constructor & Destructor Documentation

◆ Kalman()

dynamicgraph::sot::Kalman::Kalman ( const std::string &  name)

Member Function Documentation

◆ commandLine()

void dynamicgraph::sot::Kalman::commandLine ( const std::string &  cmdLine,
std::istringstream &  cmdArgs,
std::ostream &  os 
)
virtual

Reimplemented from dynamicgraph::Entity.

◆ computeStateUpdate()

Vector& dynamicgraph::sot::Kalman::computeStateUpdate ( Vector x_est,
const int &  time 
)
protected

◆ computeVarianceUpdate()

Matrix& dynamicgraph::sot::Kalman::computeVarianceUpdate ( Matrix P_k_k,
const int &  time 
)
protected

◆ display()

void dynamicgraph::sot::Kalman::display ( std::ostream &  os) const
virtual

Reimplemented from dynamicgraph::Entity.

◆ getClassName()

virtual const std::string& dynamicgraph::sot::Kalman::getClassName ( void  ) const
inlinevirtual

Implements dynamicgraph::Entity.

◆ getDocString()

virtual std::string dynamicgraph::sot::Kalman::getDocString ( ) const
inlinevirtual

Reimplemented from dynamicgraph::Entity.

◆ setStateEstimation()

void dynamicgraph::sot::Kalman::setStateEstimation ( const Vector x0)
inlineprotected

◆ setStateVariance()

void dynamicgraph::sot::Kalman::setStateVariance ( const Matrix P0)
inlineprotected

Member Data Documentation

◆ CLASS_NAME

const std::string dynamicgraph::sot::Kalman::CLASS_NAME
static

◆ dt

double dynamicgraph::sot::Kalman::dt
protected

◆ FP_

Matrix dynamicgraph::sot::Kalman::FP_
protected

◆ gainSINTERN

SignalTimeDependent< Matrix,int > dynamicgraph::sot::Kalman::gainSINTERN

◆ innovationSINTERN

SignalTimeDependent< Matrix,int > dynamicgraph::sot::Kalman::innovationSINTERN

◆ K_

Matrix dynamicgraph::sot::Kalman::K_
protected

◆ measureSIN

SignalPtr< Vector,int > dynamicgraph::sot::Kalman::measureSIN

◆ modelMeasureSIN

SignalPtr< Matrix,int > dynamicgraph::sot::Kalman::modelMeasureSIN

◆ modelTransitionSIN

SignalPtr< Matrix,int > dynamicgraph::sot::Kalman::modelTransitionSIN

◆ noiseMeasureSIN

SignalPtr< Matrix,int > dynamicgraph::sot::Kalman::noiseMeasureSIN

◆ noiseTransitionSIN

SignalPtr< Matrix,int > dynamicgraph::sot::Kalman::noiseTransitionSIN

◆ observationPredictedSIN

SignalPtr< Vector,int > dynamicgraph::sot::Kalman::observationPredictedSIN

◆ Pk_k_1_

Matrix dynamicgraph::sot::Kalman::Pk_k_1_
protected

◆ S_

Matrix dynamicgraph::sot::Kalman::S_
protected

◆ size_measure

unsigned int dynamicgraph::sot::Kalman::size_measure
protected

◆ size_state

unsigned int dynamicgraph::sot::Kalman::size_state
protected

◆ stateEstimation_

Vector dynamicgraph::sot::Kalman::stateEstimation_
protected

◆ statePredictedSIN

SignalPtr< Vector,int > dynamicgraph::sot::Kalman::statePredictedSIN

◆ stateUpdateSOUT

SignalTimeDependent< Vector,int > dynamicgraph::sot::Kalman::stateUpdateSOUT

◆ stateVariance_

Matrix dynamicgraph::sot::Kalman::stateVariance_
protected

◆ varianceUpdateSOUT

SignalTimeDependent< Matrix,int > dynamicgraph::sot::Kalman::varianceUpdateSOUT

◆ z_

Vector dynamicgraph::sot::Kalman::z_
protected