vpUKSigmaDrawerAbstract Class Reference

#include <visp3/core/vpUKSigmaDrawerAbstract.h>

Inheritance diagram for vpUKSigmaDrawerAbstract:

Classes
struct	vpSigmaPointsWeights

Public Types
typedef struct vpUKSigmaDrawerAbstract::vpSigmaPointsWeights	vpSigmaPointsWeights

Public Member Functions
	vpUKSigmaDrawerAbstract (const unsigned int &n)
virtual std::vector< vpColVector >	drawSigmaPoints (const vpColVector &mean, const vpMatrix &covariance)=0
virtual vpSigmaPointsWeights	computeWeights ()=0

Protected Attributes
unsigned int	m_n

Detailed Description

This abstract class defines the interface to draw the sigma points for the Unscented Kalman filter.

Definition at line 50 of file vpUKSigmaDrawerAbstract.h.

Member Typedef Documentation

vpSigmaPointsWeights

typedef struct vpUKSigmaDrawerAbstract::vpSigmaPointsWeights vpUKSigmaDrawerAbstract::vpSigmaPointsWeights

The weights corresponding to the sigma points drawing.

Constructor & Destructor Documentation

vpUKSigmaDrawerAbstract()

vpUKSigmaDrawerAbstract::vpUKSigmaDrawerAbstract ( const unsigned int &  n )

inline

Definition at line 62 of file vpUKSigmaDrawerAbstract.h.

Member Function Documentation

computeWeights()

virtual vpSigmaPointsWeights vpUKSigmaDrawerAbstract::computeWeights ( )

pure virtual

Computed the weigths that correspond to the sigma poitns that have been drawn.

Returns

vpSigmaPointsWeights The weights that correspond to the sigma points.

Implemented in vpUKSigmaDrawerMerwe.

drawSigmaPoints()

virtual std::vector<vpColVector> vpUKSigmaDrawerAbstract::drawSigmaPoints ( const vpColVector &  mean, const vpMatrix &  covariance  )

pure virtual

Draw the sigma points according to the current mean and covariance of the state of the Unscented Kalman filter.

Parameters

[in]	mean	The current mean of the state of the UKF.
[in]	covariance	The current process covariance of the UKF.

Returns

std::vector<vpColVector> The sigma points.

Implemented in vpUKSigmaDrawerMerwe.

Member Data Documentation

m_n

unsigned int vpUKSigmaDrawerAbstract::m_n

protected

The size of the state of the UKF.

Definition at line 81 of file vpUKSigmaDrawerAbstract.h.

Referenced by vpUKSigmaDrawerMerwe::computeLambda(), vpUKSigmaDrawerMerwe::computeWeights(), and vpUKSigmaDrawerMerwe::drawSigmaPoints().