Visual Servoing Platform  version 3.4.1 under development (2021-04-20)
vpKalmanFilter.h
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30  *
31  * Description:
32  * Kalman filtering.
33  *
34  * Authors:
35  * Eric Marchand
36  * Fabien Spindler
37  *
38  *****************************************************************************/
39 
40 #ifndef vpKalmanFilter_h
41 #define vpKalmanFilter_h
42 
43 #include <visp3/core/vpColVector.h>
44 #include <visp3/core/vpMatrix.h>
45 
46 #include <math.h>
47 
110 class VISP_EXPORT vpKalmanFilter
111 {
112 protected:
113  // bool init_done ;
114 
116  long iter;
117 
119  unsigned int size_state;
121  unsigned int size_measure;
123  unsigned int nsignal;
124 
128 
129 public:
130  vpKalmanFilter();
131  explicit vpKalmanFilter(unsigned int n_signal);
132  vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int n_signal);
134  virtual ~vpKalmanFilter(){};
138  void setNumberOfSignal(unsigned int n_signal) { this->nsignal = n_signal; }
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:
182 
185 
193  double dt;
201 
208 
209 protected:
216 
219 };
220 
221 #endif
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
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 .
vpColVector Xest
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:130
vpColVector Xpre
unsigned int getMeasureSize()
vpMatrix H
Matrix that describes the evolution of the measurements.
This class provides a generic Kalman filtering algorithm along with some specific state model (consta...
vpMatrix Q
Process noise covariance matrix .
virtual ~vpKalmanFilter()