Public Member Functions

UnscentedKalmanFilter Class Reference

The C++ implementation of the unscented Kalman Filter. More...

#include <unscented_kalman_filter.h>

List of all members.

Public Member Functions

 UnscentedKalmanFilter (FilterModel *filter_model)
 Constructor.
void Filter (const State &x, const vnl_matrix< double > &p, const std::vector< double > &z, State &x_new, vnl_matrix< double > &p_new, double &dNormMSE)
 Does the one filter step.

Detailed Description

The C++ implementation of the unscented Kalman Filter.


Constructor & Destructor Documentation

UnscentedKalmanFilter::UnscentedKalmanFilter ( FilterModel filter_model  ) 

Constructor.

Parameters:
filter_model The UKF is initialized with a filter model that defines the observation and transition functions. Also required are the noise parameters.

Member Function Documentation

void UnscentedKalmanFilter::Filter ( const State x,
const vnl_matrix< double > &  p,
const std::vector< double > &  z,
State x_new,
vnl_matrix< double > &  p_new,
double &  dNormMSE 
)

Does the one filter step.

Parameters:
[in] x Current state vector
[in] p Current convariance matrix of the stateal and it
[in] z The signal interpolated at the current position
[out] x_new Updated state
[out] p_new Updated covariance
[out] The normalized mean squared reconstruction error

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