Visual Servoing Platform  version 3.4.1 under development (2021-12-05)
vpLinearKalmanFilterInstantiation.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 vpLinearKalmanFilterInstantiation_h
41 #define vpLinearKalmanFilterInstantiation_h
42 
43 #include <visp3/core/vpKalmanFilter.h>
44 
45 #include <math.h>
46 
59 {
60 public:
64  typedef enum {
81  unknown
82  } vpStateModel;
83 
90  vpLinearKalmanFilterInstantiation() : model(unknown){};
91 
97  inline vpStateModel getStateModel() { return model; }
98  void filter(vpColVector &z);
99 
102  inline void setStateModel(vpStateModel model);
103 
104  void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt);
106 
109  void initStateConstVel_MeasurePos(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure,
110  double dt);
111  void initStateConstVelWithColoredNoise_MeasureVel(unsigned int nsignal, vpColVector &sigma_state,
112  vpColVector &sigma_measure, double rho);
114 
117  void initStateConstAccWithColoredNoise_MeasureVel(unsigned int nsignal, vpColVector &sigma_state,
118  vpColVector &sigma_measure, double rho, double dt);
120 
121 protected:
122  vpStateModel model;
123 };
124 
148 {
149  this->model = mdl;
150  switch (model) {
151  case stateConstVel_MeasurePos:
152  case stateConstVelWithColoredNoise_MeasureVel:
153  size_state = 2;
154  size_measure = 1;
155  break;
156  case stateConstAccWithColoredNoise_MeasureVel:
157  size_state = 3;
158  size_measure = 1;
159  break;
160  case unknown:
161  size_state = 0;
162  size_measure = 0;
163  break;
164  }
165 }
166 
167 #endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
This class provides an implementation of some specific linear Kalman filters.
This class provides a generic Kalman filtering algorithm along with some specific state model (consta...