Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
vpLinearKalmanFilterInstantiation.h
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29  *
30  * Description:
31  * Kalman filtering.
32  */
33 
34 #ifndef vpLinearKalmanFilterInstantiation_h
35 #define vpLinearKalmanFilterInstantiation_h
36 
37 #include <visp3/core/vpKalmanFilter.h>
38 
39 #include <math.h>
40 
53 {
54 public:
58  typedef enum
59  {
76  unknown
77  } vpStateModel;
78 
85  vpLinearKalmanFilterInstantiation() : model(unknown) { };
86 
90  inline vpStateModel getStateModel() { return model; }
91  void filter(vpColVector &z);
92 
95  inline void setStateModel(vpStateModel model);
96 
97  void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt);
99 
102  void initStateConstVel_MeasurePos(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure,
103  double dt);
104  void initStateConstVelWithColoredNoise_MeasureVel(unsigned int nsignal, vpColVector &sigma_state,
105  vpColVector &sigma_measure, double rho);
107 
110  void initStateConstAccWithColoredNoise_MeasureVel(unsigned int nsignal, vpColVector &sigma_state,
111  vpColVector &sigma_measure, double rho, double dt);
113 
114 protected:
116 };
117 
141 {
142  this->model = mdl;
143  switch (model) {
146  size_state = 2;
147  size_measure = 1;
148  break;
150  size_state = 3;
151  size_measure = 1;
152  break;
153  case unknown:
154  size_state = 0;
155  size_measure = 0;
156  break;
157  }
158 }
159 
160 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
This class provides a generic Kalman filtering algorithm along with some specific state model (consta...
unsigned int size_state
Size of the state vector .
unsigned int size_measure
Size of the measure vector .
This class provides an implementation of some specific linear Kalman filters.