dynamicgraph::sot::Kalman Class Reference

#include <sot/core/kalman.hh>

Inheritance diagram for dynamicgraph::sot::Kalman:

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

Kalman()

dynamicgraph::sot::Kalman::Kalman

(

const std::string &

name

)

Member Function Documentation

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

getClassName()

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

inlinevirtual

getDocString()

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

inlinevirtual

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