Classes | |
class | KalmanData |
Public Member Functions | |
virtual void | correct (TargetPtrVector &targets) |
Perform the measurement, and update the state for all targets. | |
core::cvdata::T_MEAS_LIK * | getExplicitMeas (std::size_t targetNum) |
Obtain the explicit measurement for a given target. | |
virtual void | init (TargetPtrVector &targets, std::vector< boost::shared_ptr< opentl::core::State > > *initStates=NULL, std::vector< boost::shared_ptr< math::SquareMatrix > > *initCovs=NULL, std::vector< int > *nHypotheses=NULL) |
Initialize: allocate internal data, and update warp, for all targets. | |
Kalman (opentl::modalities::Likelihood *likelihood, opentl::modelprojection::Warp *warp) | |
Constructor. | |
virtual void | predict (TargetPtrVector &targets) |
Predict the state for multiple targets. | |
virtual | ~Kalman () |
Destructor. | |
Protected Member Functions | |
virtual void | output (TargetPtrVector &targets) |
Compute the output state for all targets. |
opentl::tracker::Kalman::Kalman | ( | opentl::modalities::Likelihood * | likelihood, | |
opentl::modelprojection::Warp * | warp | |||
) |
Constructor.
likelihood | Likelihood class (for explicit measurements) | |
targets | Vector of targets | |
warp | The warp class |
virtual opentl::tracker::Kalman::~Kalman | ( | ) | [virtual] |
Destructor.
virtual void opentl::tracker::Kalman::correct | ( | TargetPtrVector & | targets | ) | [virtual] |
Perform the measurement, and update the state for all targets.
targets | Vector of targets |
Implements opentl::tracker::Tracker.
core::cvdata::T_MEAS_LIK* opentl::tracker::Kalman::getExplicitMeas | ( | std::size_t | targetNum | ) |
Obtain the explicit measurement for a given target.
targetNum | Index of the target |
virtual void opentl::tracker::Kalman::init | ( | TargetPtrVector & | targets, | |
std::vector< boost::shared_ptr< opentl::core::State > > * | initStates = NULL , |
|||
std::vector< boost::shared_ptr< math::SquareMatrix > > * | initCovs = NULL , |
|||
std::vector< int > * | nHypotheses = NULL | |||
) | [virtual] |
Initialize: allocate internal data, and update warp, for all targets.
targets | Vector of targets | |
initStates | Vector of initial states (optional); it must have same size of targets | |
initCovs | Vector of initial covariances (optional); it must have the same size of targets | |
nHypotheses | Vector with number of state hypotheses for each target distribution; it must have same size of targets |
Implements opentl::tracker::Tracker.
virtual void opentl::tracker::Kalman::output | ( | TargetPtrVector & | targets | ) | [inline, protected, virtual] |
Compute the output state for all targets.
targets | Vector of targets |
Reimplemented from opentl::tracker::Tracker.
virtual void opentl::tracker::Kalman::predict | ( | TargetPtrVector & | targets | ) | [virtual] |
Predict the state for multiple targets.
targets | Vector of targets |
Implements opentl::tracker::Tracker.