tag::ConstantPosition::Model Class Reference

#include <constantposition.h>

Collaboration diagram for tag::ConstantPosition::Model:

Public Member Functions
	Model (void)
TooN::Matrix < State::STATE_DIMENSION > &	getJacobian (const State &state, double dt)
	Jacobian has pos, rot in this order. More...
void	updateState (State &state, const double dt)
TooN::Matrix < State::STATE_DIMENSION > &	getNoiseCovariance (double dt)
void	updateFromMeasurement (State &state, const TooN::Vector< State::STATE_DIMENSION > &innovation)

Public Attributes
TooN::Vector < State::STATE_DIMENSION >	sigma
	describes the process noise as independent for each dimension of the state More...
TooN::Matrix < State::STATE_DIMENSION >	jacobian
	the jacobian of the process modell, here the identity More...
TooN::Matrix < State::STATE_DIMENSION >	noise
	the actual process noise matrix returned from the associated funcion More...

Detailed Description

The Model class implementing a constant position model. It will only update the covariance based on time passing, and update the state correctly from a measurement.

Constructor & Destructor Documentation

tag::ConstantPosition::Model::Model ( void  )

inline

References jacobian, noise, and sigma.

Member Function Documentation

TooN::Matrix<State::STATE_DIMENSION>& tag::ConstantPosition::Model::getJacobian ( const State &  state, double  dt  )

inline

Jacobian has pos, rot in this order.

References jacobian.

TooN::Matrix<State::STATE_DIMENSION>& tag::ConstantPosition::Model::getNoiseCovariance ( double  dt )

inline

References noise, and sigma.

void tag::ConstantPosition::Model::updateFromMeasurement ( State &  state, const TooN::Vector< State::STATE_DIMENSION > &  innovation  )

inline

References tag::ConstantPosition::State::pose.

void tag::ConstantPosition::Model::updateState ( State &  state, const double  dt  )

inline

Member Data Documentation

TooN::Matrix<State::STATE_DIMENSION> tag::ConstantPosition::Model::jacobian

the jacobian of the process modell, here the identity

Referenced by getJacobian(), and Model().

TooN::Matrix<State::STATE_DIMENSION> tag::ConstantPosition::Model::noise

the actual process noise matrix returned from the associated funcion

Referenced by getNoiseCovariance(), and Model().

TooN::Vector<State::STATE_DIMENSION> tag::ConstantPosition::Model::sigma

describes the process noise as independent for each dimension of the state

Referenced by getNoiseCovariance(), and Model().

---

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

• constantposition.h