Public Member Functions
	KalmanFilter3D ()
	Creates a kalman filter with all the parameters set to 0 (F_k etc)

	KalmanFilter3D (Geometry2d::Point initPos, double initTheta, Geometry2d::Point initVel, double initOmega)
	Creates and initializes a kalman filter. More...

void	predictWithUpdate (Geometry2d::Point observationPos, double observationTheta)
	Predicts with update Overrides the standard PredictWithUpdate and sets the z_k automatically. More...

Geometry2d::Point	getPos () const

double	getTheta () const

Geometry2d::Point	getVel () const

double	getOmega () const

Geometry2d::Point	getPosCov () const

double	getThetaCov () const

Geometry2d::Point	getVelCov () const

double	getOmegaCov () const

Public Member Functions inherited from KalmanFilter
	KalmanFilter (unsigned int stateSize, unsigned int observationSize)
	Creates a general kalman filter with the given sizes Use a child class to setup the specific state matricies Assumes 1 input. More...

void	predict ()
	Predicts without update.

void	predictWithUpdate ()
	Predicts with update z_k must be set with the observation.

Static Public Member Functions
static void	createConfiguration (Configuration *cfg)

Additional Inherited Members
Protected Attributes inherited from KalmanFilter
Eigen::VectorXd	x_k1_k1

Eigen::VectorXd	x_k_k1

Eigen::VectorXd	x_k_k

Eigen::VectorXd	u_k

Eigen::VectorXd	z_k

Eigen::VectorXd	y_k_k1

Eigen::VectorXd	y_k_k

Eigen::MatrixXd	P_k1_k1

Eigen::MatrixXd	P_k_k1

Eigen::MatrixXd	P_k_k

Eigen::MatrixXd	S_k

Eigen::MatrixXd	K_k

Eigen::MatrixXd	F_k

Eigen::MatrixXd	B_k

Eigen::MatrixXd	H_k

Eigen::MatrixXd	Q_k

Eigen::MatrixXd	R_k

Eigen::MatrixXd	I

Inheritance diagram for KalmanFilter3D:

Collaboration diagram for KalmanFilter3D:

Constructor & Destructor Documentation

◆ KalmanFilter3D()

KalmanFilter3D::KalmanFilter3D	(	Geometry2d::Point	initPos,
		double	initTheta,
		Geometry2d::Point	initVel,
		double	initOmega
	)

Creates and initializes a kalman filter.

Parameters

initPos	initial position
initTheta	initial heading
initVel	initial velocity
initOmega	initial angular velocity

Member Function Documentation

◆ getOmega()

double KalmanFilter3D::getOmega ( ) const

Returns: Current heading angle velocity estimate

◆ getOmegaCov()

double KalmanFilter3D::getOmegaCov ( ) const

Returns: Current heading angle velocity covariance

◆ getPos()

Geometry2d::Point KalmanFilter3D::getPos ( ) const

Returns: Current position estimate

◆ getPosCov()

Geometry2d::Point KalmanFilter3D::getPosCov ( ) const

Returns: Current position covariance (X and Y)

◆ getTheta()

double KalmanFilter3D::getTheta ( ) const

Returns: Current heading angle estimate

◆ getThetaCov()

double KalmanFilter3D::getThetaCov ( ) const

Returns: Current heading covariance

◆ getVel()

Geometry2d::Point KalmanFilter3D::getVel ( ) const

Returns: Current velocity estimate

◆ getVelCov()

Geometry2d::Point KalmanFilter3D::getVelCov ( ) const

Returns: Current velocity covariance (X and Y)

◆ predictWithUpdate()

void KalmanFilter3D::predictWithUpdate	(	Geometry2d::Point	observationPos,
		double	observationTheta
	)

Predicts with update Overrides the standard PredictWithUpdate and sets the z_k automatically.