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vpKalmanFilter.h
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10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
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17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Kalman filtering.
32  *
33  * Authors:
34  * Eric Marchand
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
39 #ifndef vpKalmanFilter_h
40 #define vpKalmanFilter_h
41 
42 #include <visp3/core/vpMatrix.h>
43 #include <visp3/core/vpColVector.h>
44 
45 #include <math.h>
46 
108 class VISP_EXPORT vpKalmanFilter
109 {
110 protected :
111  //bool init_done ;
112 
114  long iter ;
115 
117  unsigned int size_state ;
119  unsigned int size_measure ;
121  unsigned int nsignal ;
122 
125 
126 public:
127  vpKalmanFilter() ;
128  vpKalmanFilter(unsigned int n_signal) ;
129  vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int n_signal) ;
131  virtual ~vpKalmanFilter() {};
135  void setNumberOfSignal(unsigned int n_signal)
136  {
137  this->nsignal = n_signal;
138  }
139 
140  // int init() { return init_done ; }
141  void init(unsigned int size_state, unsigned int size_measure, unsigned int n_signal) ;
142  void prediction() ;
143  void filtering(const vpColVector &z) ;
147  unsigned int getStateSize() { return size_state; };
151  unsigned int getMeasureSize() { return size_measure; };
155  unsigned int getNumberOfSignal() { return nsignal; };
159  long getIteration() { return iter ; }
165  void verbose(bool on) { verbose_mode = on;};
166 
167 public:
173  vpColVector Xest ;
181 
184 
192  double dt ;
199 
206 
207 protected:
208 
215 
218 } ;
219 
220 
221 
222 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:97
unsigned int getStateSize()
long iter
Filter step or iteration. When set to zero, initialize the filter.
unsigned int size_state
Size of the state vector .
vpMatrix R
Measurement noise covariance matrix .
unsigned int size_measure
Size of the measure vector .
vpMatrix I
Identity matrix .
unsigned int nsignal
Number of signal to filter.
void setNumberOfSignal(unsigned int n_signal)
unsigned int getNumberOfSignal()
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
vpColVector Xpre
unsigned int getMeasureSize()
vpMatrix F
Transition matrix that describes the evolution of the state.
vpMatrix H
Matrix that describes the evolution of the measurements.
bool verbose_mode
When set to true, print the content of internal variables during filtering() and prediction().
This class provides a generic Kalman filtering algorithm along with some specific state model (consta...
vpMatrix Q
Process noise covariance matrix .
virtual ~vpKalmanFilter()