Public Member Functions | |
void | deleteData () |
void | resizeData (int sdim, int zdim=0) |
UnscentedInfoFilterData () | |
~UnscentedInfoFilterData () | |
Public Attributes | |
math::Vector * | assocVector |
Vector of associated measurements = valid for each sigma point. | |
math::Matrix * | chi |
State sigma points. | |
math::SquareMatrix * | covQ |
Matrix Q covariance (process noise). | |
math::Vector * | innov |
Measurement innovation. | |
math::Vector * | innov_ave |
Average of measurement innovations. | |
math::Vector * | invCovR |
Inverse of matrix R measurement noise NOTE: We already get invCovR from the measurements! | |
int | measDim |
dimensions of measurement and state | |
math::SquareMatrix * | pPostInfoMat |
Inverse error covariance O(k+1|k+1) = Information matrix. | |
math::Vector * | pPostInfoVec |
Information vector = O(k+1|k+1)*x(k+1|k+1). | |
math::SquareMatrix * | pPriorInfoMat |
Inverse error covariance O(k+1|k) = Information matrix. | |
math::Vector * | pPriorInfoVec |
Information vector = O(k+1|k)*x(k+1|k). | |
math::Matrix * | Psz |
Real measurement. | |
int | stateDim |
math::Vector * | tmpVec |
temporary support matrices |
opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::UnscentedInfoFilterData | ( | ) |
opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::~UnscentedInfoFilterData | ( | ) |
void opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::deleteData | ( | ) |
void opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::resizeData | ( | int | sdim, | |
int | zdim = 0 | |||
) |
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::assocVector |
Vector of associated measurements = valid for each sigma point.
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::chi |
State sigma points.
math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::covQ |
Matrix Q covariance (process noise).
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::innov |
Measurement innovation.
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::innov_ave |
Average of measurement innovations.
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::invCovR |
Inverse of matrix R measurement noise NOTE: We already get invCovR from the measurements!
int opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::measDim |
dimensions of measurement and state
math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPostInfoMat |
Inverse error covariance O(k+1|k+1) = Information matrix.
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPostInfoVec |
Information vector = O(k+1|k+1)*x(k+1|k+1).
math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPriorInfoMat |
Inverse error covariance O(k+1|k) = Information matrix.
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPriorInfoVec |
Information vector = O(k+1|k)*x(k+1|k).
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::Psz |
Real measurement.
Predicted measurement Cross-covariance (state-measurement)
int opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::stateDim |
math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::tmpVec |
temporary support matrices