Public Member Functions
	KalmanFilter2D ()
	Creates a kalman filter with all the parameters set to 0 (F_k etc)

	KalmanFilter2D (Geometry2d::Point initPos, Geometry2d::Point initVel)
	Creates and initializes a kalman filter. More...

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

Geometry2d::Point	getPos () const

Geometry2d::Point	getVel () const

Geometry2d::Point	getPosCov () const

Geometry2d::Point	getVelCov () const

void	setVel (Geometry2d::Point newVel)
	Set's state velocity given XY velocity. More...

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 KalmanFilter2D:

Collaboration diagram for KalmanFilter2D:

Constructor & Destructor Documentation

◆ KalmanFilter2D()

KalmanFilter2D::KalmanFilter2D	(	Geometry2d::Point	initPos,
		Geometry2d::Point	initVel
	)

Creates and initializes a kalman filter.

Parameters

initPos	initial position
initVel	initial velocity

Geometry2d::Point KalmanFilter2D::getPos ( ) const

Geometry2d::Point KalmanFilter2D::getPosCov ( ) const

Geometry2d::Point KalmanFilter2D::getVel ( ) const

Geometry2d::Point KalmanFilter2D::getVelCov ( ) const

void KalmanFilter2D::predictWithUpdate ( Geometry2d::Point observation )

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

Parameters

observation The position observation for the current frame

void KalmanFilter2D::setVel ( Geometry2d::Point newVel )

Set's state velocity given XY velocity.

Parameters

newVel New velocity to use

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