File simple_1d_ekf.hpp¶
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class SimpleEKFState : public Eigen::Matrix<double, 1, 1>
- #include <simple_1d_ekf.hpp>
Public Functions
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inline SimpleEKFState(void)
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template<typename OtherDerived>
inline SimpleEKFState(const Eigen::MatrixBase<OtherDerived> &other)
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template<typename OtherDerived>
inline SimpleEKFState &operator=(const Eigen::MatrixBase<OtherDerived> &other)
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inline Eigen::Matrix<double, 1, 1> getState()
Public Members
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Eigen::Ref<Eigen::Matrix<double, 1, 1>> pos_
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Eigen::Matrix<double, 1, 1> state_cov
Public Static Attributes
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static const int state_dim = 1
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static const int noise_dim = 1
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inline SimpleEKFState(void)
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class SimpleEKFMeasure : public Eigen::Matrix<double, 1, 1>
- #include <simple_1d_ekf.hpp>
Public Functions
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inline SimpleEKFMeasure(void)
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template<typename OtherDerived>
inline SimpleEKFMeasure(const Eigen::MatrixBase<OtherDerived> &other)
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template<typename OtherDerived>
inline SimpleEKFMeasure &operator=(const Eigen::MatrixBase<OtherDerived> &other)
Public Members
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Eigen::Ref<Eigen::Matrix<double, 1, 1>> meas_pos_
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Eigen::Matrix<double, 1, 1> meas_cov
Public Static Attributes
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static const int meas_dim = 1
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inline SimpleEKFMeasure(void)
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class SimpleEKF : public mim_estimation::standard_filters::EKF<SimpleEKFState, SimpleEKFMeasure>
- #include <simple_1d_ekf.hpp>
Public Functions
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inline SimpleEKF(double init_pos, double dt, bool is_discrete)
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inline ~SimpleEKF()
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inline void update(Eigen::Matrix<double, 1, 1> pos, bool new_measured_value)
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inline Eigen::Matrix<double, N, 1> get_filter_state(void)
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inline void subscribe_to_data_collector(mim_estimation::io_tools::DataCollector &data_collector)
Private Functions
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inline Eigen::Matrix<double, N, 1> process_model(SimpleEKFState &s)¶
process_model
- \[\begin{align} \dot{pos} = (meas_vel - meas_vel_bias) \dot{bias} = 0.0 \end{align}\]
- Parameters:
s – current state
- Returns:
out: the predicted state
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inline void form_process_jacobian(void)¶
form_process_jacobian
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inline void form_process_noise(void)¶
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inline void form_noise_jacobian(void)¶
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inline Eigen::Matrix<double, K, 1> measurement_model(SimpleEKFState &s)¶
measurement_model
- Parameters:
s – current state
- Returns:
out: the predicted measurement
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inline void form_measurement_jacobian(void)¶
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inline void form_measurement_noise(void)¶
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inline void form_actual_measurement(void)¶
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inline SimpleEKF(double init_pos, double dt, bool is_discrete)