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

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.

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: