tag::KalmanFilter< State, Model > Class Template Reference

#include <kalmanfilter.h>

Collaboration diagram for tag::KalmanFilter< State, Model >:

Public Types
typedef State	state_type
typedef Model	model_type

Public Member Functions
	KalmanFilter ()
void	predict (double dt)
template<class Measurement >
void	filter (Measurement &m)

Public Attributes
TooN::Matrix < State::STATE_DIMENSION >	identity
	identity matrix of the right size, used in the measurement equations More...
State	state
	the current state of the filter More...
Model	model
	the process model used by the filter More...

Detailed Description

template<class State, class Model>
class tag::KalmanFilter< State, Model >

the basic template class implementing the Kalman Filter, see Kalman Filter documentation for details.

Member Typedef Documentation

template<class State, class Model>

typedef Model tag::KalmanFilter< State, Model >::model_type

template<class State, class Model>

typedef State tag::KalmanFilter< State, Model >::state_type

Constructor & Destructor Documentation

template<class State, class Model>

tag::KalmanFilter< State, Model >::KalmanFilter ( )

inline

References tag::KalmanFilter< State, Model >::identity.

Member Function Documentation

template<class State, class Model>

template<class Measurement >

void tag::KalmanFilter< State, Model >::filter ( Measurement &  m )

inline

incorporates a measurement

Parameters

[in]

m

the measurement to add to the filter state

References tag::KalmanFilter< State, Model >::model, and tag::KalmanFilter< State, Model >::state.

template<class State, class Model>

void tag::KalmanFilter< State, Model >::predict ( double  dt )

inline

predicts the state by applying the process model over the time interval dt

Parameters

[in]

dt

time interval

References tag::KalmanFilter< State, Model >::model, and tag::KalmanFilter< State, Model >::state.

Member Data Documentation

template<class State, class Model>

TooN::Matrix<State::STATE_DIMENSION> tag::KalmanFilter< State, Model >::identity

identity matrix of the right size, used in the measurement equations

Referenced by tag::KalmanFilter< State, Model >::KalmanFilter().

template<class State, class Model>

Model tag::KalmanFilter< State, Model >::model

the process model used by the filter

Referenced by tag::KalmanFilter< State, Model >::filter(), and tag::KalmanFilter< State, Model >::predict().

template<class State, class Model>

State tag::KalmanFilter< State, Model >::state

the current state of the filter

Referenced by tag::KalmanFilter< State, Model >::filter(), and tag::KalmanFilter< State, Model >::predict().

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

• kalmanfilter.h