opentl::tracker::Kalman::Kalman::KalmanData Class Reference

List of all members.

Public Member Functions

void deleteData ()
 KalmanData ()
void resizeData (int sdim, int zdim)
 ~KalmanData ()

Public Attributes

math::SquareMatrixcovQ
 Matrix Q = process noise covariance.
math::VectorcovR
 Matrix R = measurement noise covariance.
math::Vectorinnov
 Innovation (residual vector).
math::MatrixkalmanGain
 Kalman Gain K.
math::SquareMatrixmatA
 State transition matrix A.
math::MatrixmatH
 Matrix H = Jacobian of measurement model.
math::MatrixmatHT
math::SquareMatrixmatI
 Just the identity-matrix I.
math::SquareMatrixmatS
 Temporary support matrices for the update step.
int measDim
 Current dimensions of measurement and state.
int stateLieDim
math::MatrixtmpMatC
math::SquareMatrixtmpMatP


Constructor & Destructor Documentation

opentl::tracker::Kalman::Kalman::KalmanData::KalmanData (  ) 

opentl::tracker::Kalman::Kalman::KalmanData::~KalmanData (  ) 


Member Function Documentation

void opentl::tracker::Kalman::Kalman::KalmanData::deleteData (  ) 

void opentl::tracker::Kalman::Kalman::KalmanData::resizeData ( int  sdim,
int  zdim 
)


Member Data Documentation

math::SquareMatrix* opentl::tracker::Kalman::Kalman::KalmanData::covQ

Matrix Q = process noise covariance.

math::Vector* opentl::tracker::Kalman::Kalman::KalmanData::covR

Matrix R = measurement noise covariance.

math::Vector* opentl::tracker::Kalman::Kalman::KalmanData::innov

Innovation (residual vector).

math::Matrix* opentl::tracker::Kalman::Kalman::KalmanData::kalmanGain

Kalman Gain K.

math::SquareMatrix* opentl::tracker::Kalman::Kalman::KalmanData::matA

State transition matrix A.

math::Matrix* opentl::tracker::Kalman::Kalman::KalmanData::matH

Matrix H = Jacobian of measurement model.

math::Matrix* opentl::tracker::Kalman::Kalman::KalmanData::matHT

math::SquareMatrix* opentl::tracker::Kalman::Kalman::KalmanData::matI

Just the identity-matrix I.

math::SquareMatrix* opentl::tracker::Kalman::Kalman::KalmanData::matS

Temporary support matrices for the update step.

int opentl::tracker::Kalman::Kalman::KalmanData::measDim

Current dimensions of measurement and state.

int opentl::tracker::Kalman::Kalman::KalmanData::stateLieDim

math::Matrix* opentl::tracker::Kalman::Kalman::KalmanData::tmpMatC

math::SquareMatrix* opentl::tracker::Kalman::Kalman::KalmanData::tmpMatP


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