#include <sot/core/kalman.hh>
List of all members.
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 |
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 |
Matrix & | computeVarianceUpdate (Matrix &P_k_k, const int &time) |
Vector & | computeStateUpdate (Vector &x_est, const int &time) |
void | setStateEstimation (const Vector &x0) |
void | setStateVariance (const Matrix &P0) |
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_ |
Constructor & Destructor Documentation
dynamicgraph::sot::Kalman::Kalman |
( |
const std::string & |
name | ) |
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Member Function Documentation
Vector& dynamicgraph::sot::Kalman::computeStateUpdate |
( |
Vector & |
x_est, |
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const int & |
time |
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) |
| [protected] |
Matrix& dynamicgraph::sot::Kalman::computeVarianceUpdate |
( |
Matrix & |
P_k_k, |
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const int & |
time |
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) |
| [protected] |
void dynamicgraph::sot::Kalman::display |
( |
std::ostream & |
os | ) |
const [virtual] |
virtual const std::string& dynamicgraph::sot::Kalman::getClassName |
( |
void |
| ) |
const [inline, virtual] |
virtual std::string dynamicgraph::sot::Kalman::getDocString |
( |
| ) |
const [inline, virtual] |
void dynamicgraph::sot::Kalman::setStateEstimation |
( |
const Vector & |
x0 | ) |
[inline, protected] |
void dynamicgraph::sot::Kalman::setStateVariance |
( |
const Matrix & |
P0 | ) |
[inline, protected] |
Member Data Documentation