#include <KalmanFilter.h>

Collaboration diagram for landing_target_estimator::KalmanFilter:

Public Member Functions
	KalmanFilter ()
	Default constructor, state not initialized. More...

	KalmanFilter (matrix::Vector< float, 2 > &initial, matrix::Matrix< float, 2, 2 > &covInit)
	Constructor, initialize state. More...

virtual	~KalmanFilter ()
	Default desctructor. More...

void	init (matrix::Vector< float, 2 > &initial, matrix::Matrix< float, 2, 2 > &covInit)
	Initialize filter state. More...

void	init (float initial0, float initial1, float covInit00, float covInit11)
	Initialize filter state, only specifying diagonal covariance elements. More...

void	predict (float dt, float acc, float acc_unc)
	Predict the state with an external acceleration estimate. More...

bool	update (float meas, float measUnc)
	Update the state estimate with a measurement. More...

void	getState (matrix::Vector< float, 2 > &state)
	Get the current filter state. More...

void	getState (float &state0, float &state1)
	Get the current filter state. More...

void	getCovariance (matrix::Matrix< float, 2, 2 > &covariance)
	Get state covariance. More...

void	getCovariance (float &cov00, float &cov11)
	Get state variances (diagonal elements) More...

void	getInnovations (float &innov, float &innovCov)
	Get measurement innovation and covariance of last update call. More...

Private Attributes
matrix::Vector< float, 2 >	_x

matrix::Matrix< float, 2, 2 >	_covariance

float	_residual

float	_innovCov

Detailed Description

Definition at line 58 of file KalmanFilter.h.

Constructor & Destructor Documentation

◆ KalmanFilter() [1/2]

landing_target_estimator::KalmanFilter::KalmanFilter ( )

inline

Default constructor, state not initialized.

Definition at line 64 of file KalmanFilter.h.

◆ KalmanFilter() [2/2]

landing_target_estimator::KalmanFilter::KalmanFilter	(	matrix::Vector< float, 2 > &	initial,
		matrix::Matrix< float, 2, 2 > &	covInit
	)

Constructor, initialize state.

Definition at line 46 of file KalmanFilter.cpp.

References init().

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◆ ~KalmanFilter()

virtual landing_target_estimator::KalmanFilter::~KalmanFilter ( )

inlinevirtual

Default desctructor.

Definition at line 74 of file KalmanFilter.h.

References dt, getCovariance(), getInnovations(), getState(), init(), predict(), state, and update().

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Member Function Documentation

◆ getCovariance() [1/2]

void landing_target_estimator::KalmanFilter::getCovariance ( matrix::Matrix< float, 2, 2 > & covariance )

Get state covariance.

Parameters

covariance Covariance of the state

Definition at line 136 of file KalmanFilter.cpp.

References _covariance.

Referenced by landing_target_estimator::LandingTargetEstimator::update(), and ~KalmanFilter().

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◆ getCovariance() [2/2]

void landing_target_estimator::KalmanFilter::getCovariance	(	float &	cov00,
		float &	cov11
	)

Get state variances (diagonal elements)

Parameters

cov00	Variance of first state
cov11	Variance of second state

Definition at line 141 of file KalmanFilter.cpp.

References _covariance.

◆ getInnovations()

void landing_target_estimator::KalmanFilter::getInnovations	(	float &	innov,
		float &	innovCov
	)

Get measurement innovation and covariance of last update call.

Parameters

innov	Measurement innovation
innovCov	Measurement innovation covariance

Definition at line 147 of file KalmanFilter.cpp.

References _innovCov, and _residual.

Referenced by landing_target_estimator::LandingTargetEstimator::update(), and ~KalmanFilter().

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◆ getState() [1/2]

void landing_target_estimator::KalmanFilter::getState ( matrix::Vector< float, 2 > & state )

Get the current filter state.

Parameters

x1 State

Definition at line 125 of file KalmanFilter.cpp.

References _x.

Referenced by landing_target_estimator::LandingTargetEstimator::update(), and ~KalmanFilter().

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◆ getState() [2/2]

void landing_target_estimator::KalmanFilter::getState	(	float &	state0,
		float &	state1
	)

Get the current filter state.

Parameters

state0	First state
state1	Second state

Definition at line 130 of file KalmanFilter.cpp.

References _x.

◆ init() [1/2]

void landing_target_estimator::KalmanFilter::init	(	matrix::Vector< float, 2 > &	initial,
		matrix::Matrix< float, 2, 2 > &	covInit
	)

Initialize filter state.

Parameters

initial	initial state
covInit	initial covariance

Definition at line 51 of file KalmanFilter.cpp.

References _covariance, and _x.

Referenced by init(), KalmanFilter(), landing_target_estimator::LandingTargetEstimator::update(), and ~KalmanFilter().

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◆ init() [2/2]

void landing_target_estimator::KalmanFilter::init	(	float	initial0,
		float	initial1,
		float	covInit00,
		float	covInit11
	)

Initialize filter state, only specifying diagonal covariance elements.

Parameters

initial0	first initial state
initial1	second initial state
covInit00	initial variance of first state
covinit11	initial variance of second state

Definition at line 57 of file KalmanFilter.cpp.

References init().

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◆ predict()

void landing_target_estimator::KalmanFilter::predict	(	float	dt,
		float	acc,
		float	acc_unc
	)

Predict the state with an external acceleration estimate.

Parameters

dt	Time delta in seconds since last state change
acc	Acceleration estimate
acc_unc	Variance of acceleration estimate

Definition at line 69 of file KalmanFilter.cpp.

References _covariance, _x, dt, and matrix::Matrix< Type, M, N >::transpose().

Referenced by landing_target_estimator::LandingTargetEstimator::update(), and ~KalmanFilter().

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◆ update()

bool landing_target_estimator::KalmanFilter::update	(	float	meas,
		float	measUnc
	)

Update the state estimate with a measurement.

Parameters

meas	state measeasurement
measUnc	measurement uncertainty

Returns: update success (measurement not rejected)

Definition at line 88 of file KalmanFilter.cpp.

References _covariance, _innovCov, _residual, _x, f(), and matrix::Matrix< Type, M, N >::identity().

Referenced by landing_target_estimator::LandingTargetEstimator::update(), and ~KalmanFilter().

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Member Data Documentation

◆ _covariance

matrix::Matrix<float, 2, 2> landing_target_estimator::KalmanFilter::_covariance

private

Definition at line 144 of file KalmanFilter.h.

Referenced by getCovariance(), init(), predict(), and update().

◆ _innovCov

float landing_target_estimator::KalmanFilter::_innovCov

private

Definition at line 148 of file KalmanFilter.h.

Referenced by getInnovations(), and update().

◆ _residual

float landing_target_estimator::KalmanFilter::_residual

private

Definition at line 146 of file KalmanFilter.h.

Referenced by getInnovations(), and update().

◆ _x

matrix::Vector<float, 2> landing_target_estimator::KalmanFilter::_x

private

Definition at line 142 of file KalmanFilter.h.

Referenced by getState(), init(), predict(), and update().

The documentation for this class was generated from the following files:

src/modules/landing_target_estimator/KalmanFilter.h
src/modules/landing_target_estimator/KalmanFilter.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KalmanFilter() [1/2]

◆ KalmanFilter() [2/2]

◆ ~KalmanFilter()

Member Function Documentation

◆ getCovariance() [1/2]

◆ getCovariance() [2/2]

◆ getInnovations()

◆ getState() [1/2]

◆ getState() [2/2]

◆ init() [1/2]

◆ init() [2/2]

◆ predict()

◆ update()

Member Data Documentation

◆ _covariance

◆ _innovCov

◆ _residual

◆ _x