dynamicgraph::sot::Kalman Class Reference

#include <sot/core/kalman.hh>

Inheritance diagram for dynamicgraph::sot::Kalman:

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
void	commandLine (const std::string &cmdLine, std::istringstream &cmdArgs, std::ostream &os)
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

)

---

Member Function Documentation

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

Reimplemented from dynamicgraph::Entity.

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

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

void dynamicgraph::sot::Kalman::display

(

std::ostream &

os

)

const [virtual]

Reimplemented from dynamicgraph::Entity.

virtual const std::string& dynamicgraph::sot::Kalman::getClassName

(

void

)

const [inline, virtual]

Implements dynamicgraph::Entity.

virtual std::string dynamicgraph::sot::Kalman::getDocString

(

)

const [inline, virtual]

Reimplemented from dynamicgraph::Entity.

void dynamicgraph::sot::Kalman::setStateEstimation

(

const Vector &

x0

)

[inline, protected]

void dynamicgraph::sot::Kalman::setStateVariance

(

const Matrix &

P0

)

[inline, protected]

---

Member Data Documentation

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

double dynamicgraph::sot::Kalman::dt [protected]

Matrix dynamicgraph::sot::Kalman::FP_ [protected]

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

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

Matrix dynamicgraph::sot::Kalman::K_ [protected]

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

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

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

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

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

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

Matrix dynamicgraph::sot::Kalman::Pk_k_1_ [protected]

Matrix dynamicgraph::sot::Kalman::S_ [protected]

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

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

Vector dynamicgraph::sot::Kalman::stateEstimation_ [protected]

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

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

Matrix dynamicgraph::sot::Kalman::stateVariance_ [protected]

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

Vector dynamicgraph::sot::Kalman::z_ [protected]