opentl::tracker::UnscentedInfoFilter Class Reference

Inherits opentl::tracker::Tracker.

List of all members.

Classes
class	UnscentedInfoFilterData
Public Member Functions
void	computeSigmaPoints (boost::shared_ptr< opentl::models::Target > target)
	Compute sigma points, representing the incremental state distribution (mean and covariance), with the Unscented Transform.
virtual void	correct (std::vector< boost::shared_ptr< opentl::models::Target > > &targets)
	Perform the measurement, and update the state for all targets.
UnscentedInfoFilterData *	getInfoFilterData (std::size_t tIdx)
	Obtain the internal UIF data for a given target.
virtual void	init (std::vector< boost::shared_ptr< opentl::models::Target > > &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.
virtual void	predict (std::vector< boost::shared_ptr< opentl::models::Target > > &targets)
	Predict the state for multiple targets.
void	predictZeroT ()
	UnscentedInfoFilter (opentl::modalities::Likelihood &likelihood, opentl::modelprojection::Warp &warp)
	Constructor.
virtual	~UnscentedInfoFilter ()
Protected Member Functions
virtual void	output (std::vector< boost::shared_ptr< opentl::models::Target > > &targets)
	Compute the output state for all targets.

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Constructor & Destructor Documentation

opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter	(	opentl::modalities::Likelihood &	likelihood,
		opentl::modelprojection::Warp &	warp
	)

Constructor.

Parameters:

	likelihood	Likelihood class (for explicit measurements)
	targets	Vector of targets
	warp	The warp class

virtual opentl::tracker::UnscentedInfoFilter::~UnscentedInfoFilter

(

)

[virtual]

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Member Function Documentation

void opentl::tracker::UnscentedInfoFilter::computeSigmaPoints

(

boost::shared_ptr< opentl::models::Target >

target

)

Compute sigma points, representing the incremental state distribution (mean and covariance), with the Unscented Transform.

Parameters:

target

Single target - the sigma points are stored inside its states, as incremental values with respect to the OUTPUT state

virtual void opentl::tracker::UnscentedInfoFilter::correct

(

std::vector< boost::shared_ptr< opentl::models::Target > > &

targets

)

[virtual]

Perform the measurement, and update the state for all targets.

Parameters:

targets

Vector of targets

Implements opentl::tracker::Tracker.

UnscentedInfoFilterData* opentl::tracker::UnscentedInfoFilter::getInfoFilterData

(

std::size_t

tIdx

)

Obtain the internal UIF data for a given target.

Parameters:

targetNum

Index of the target

Returns:

Pointer to the UIF data structure

virtual void opentl::tracker::UnscentedInfoFilter::init	(	std::vector< boost::shared_ptr< opentl::models::Target > > &	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.

Parameters:

	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 (not used here)

Implements opentl::tracker::Tracker.

virtual void opentl::tracker::UnscentedInfoFilter::output

(

std::vector< boost::shared_ptr< opentl::models::Target > > &

targets

)

[inline, protected, virtual]

Compute the output state for all targets.

Parameters:

targets

Vector of targets

Reimplemented from opentl::tracker::Tracker.

virtual void opentl::tracker::UnscentedInfoFilter::predict

(

std::vector< boost::shared_ptr< opentl::models::Target > > &

targets

)

[virtual]

Predict the state for multiple targets.

Parameters:

targets

Vector of targets

Implements opentl::tracker::Tracker.

void opentl::tracker::UnscentedInfoFilter::predictZeroT

(

)