opentl::models::ConstantVelocity Class Reference

Implemented class Continuous White Noise Acceleration (CWNA) motion model. More...

Inherits opentl::models::LinearARModels.

List of all members.

Public Member Functions
	ConstantVelocity (boost::shared_ptr< opentl::core::State > stateTemplate, math::Matrix *matB=NULL, double deltaT=1.0)
	Constructor.
void	setConstraintCoeff (math::Vector &beta, math::Vector &rho)
	Set coefficients for constrained motion (one per degree of freedom).
virtual void	updateMatrices ()
	Update internal matrices (mMatA, mMatW, mMatQw) according to the real time lag.
virtual	~ConstantVelocity ()
	Destructor.

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Detailed Description

Implemented class Continuous White Noise Acceleration (CWNA) motion model.

Author:

Erwin Roth, erwin.roth@weihenstephan.org; Giorgio Panin, panin@in.tum.de

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Constructor & Destructor Documentation

opentl::models::ConstantVelocity::ConstantVelocity	(	boost::shared_ptr< opentl::core::State >	stateTemplate,
		math::Matrix *	matB = NULL,
		double	deltaT = 1.0
	)

Constructor.

Parameters:

	stateTemplate	The state representation this model is using.
	matB	Optional: input matrix B
	deltaT	Constant time lag (used if no one is provided at prediction time)

virtual opentl::models::ConstantVelocity::~ConstantVelocity

(

)

[virtual]

Destructor.

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Member Function Documentation

void opentl::models::ConstantVelocity::setConstraintCoeff	(	math::Vector &	beta,
		math::Vector &	rho
	)

Set coefficients for constrained motion (one per degree of freedom).

Parameters:

	beta	Time constant
	rho	Average envelope

virtual void opentl::models::ConstantVelocity::updateMatrices

(

)

[virtual]

Update internal matrices (mMatA, mMatW, mMatQw) according to the real time lag.

Implements opentl::models::LinearARModels.