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Eigen::VectorXd | x_k1_k1 |
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Eigen::VectorXd | x_k_k1 |
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Eigen::VectorXd | x_k_k |
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Eigen::VectorXd | u_k |
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Eigen::VectorXd | z_k |
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Eigen::VectorXd | y_k_k1 |
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Eigen::VectorXd | y_k_k |
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Eigen::MatrixXd | P_k1_k1 |
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Eigen::MatrixXd | P_k_k1 |
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Eigen::MatrixXd | P_k_k |
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Eigen::MatrixXd | S_k |
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Eigen::MatrixXd | K_k |
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Eigen::MatrixXd | F_k |
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Eigen::MatrixXd | B_k |
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Eigen::MatrixXd | H_k |
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Eigen::MatrixXd | Q_k |
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Eigen::MatrixXd | R_k |
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Eigen::MatrixXd | I |
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◆ KalmanFilter3D()
Creates and initializes a kalman filter.
- Parameters
-
initPos | initial position |
initTheta | initial heading |
initVel | initial velocity |
initOmega | initial angular velocity |
◆ getOmega()
double KalmanFilter3D::getOmega |
( |
| ) |
const |
- Returns
- Current heading angle velocity estimate
◆ getOmegaCov()
double KalmanFilter3D::getOmegaCov |
( |
| ) |
const |
- Returns
- Current heading angle velocity covariance
◆ getPos()
- Returns
- Current position estimate
◆ getPosCov()
- 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()
- Returns
- Current velocity estimate
◆ getVelCov()
- 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.
- Parameters
-
observationPos | The position observation for the current frame |
observationTheta | The theta observation for the current frame |
The documentation for this class was generated from the following files: