Public Member Functions | |
void | resizeData (int sdim, int zdim=0) |
UnscentedInfoFilterData () | |
~UnscentedInfoFilterData () | |
Public Attributes | |
math::Vector * | assocVector |
Vector of associated measurements = valid for each sigma point (zdim x 1). | |
math::Matrix * | innov |
Measurement innovation (zdim x 1). | |
math::Matrix * | innov_ave |
Average of measurement innovations (zdim x 1). | |
int | measDim |
dimensions of measurement and state | |
math::SquareMatrix * | pInfoMat |
Information matrix (sdim x sdim): prior, Y(k|k-1) and posterior Y(k|k). | |
math::Matrix * | pInfoVec |
Information vector (sdim x 1) = Y*s, prior and posterior. | |
math::Matrix * | Psz |
Cross-covariance (state-measurement) (sdim x zdim). | |
int | stateDim |
math::Matrix * | tmpSMat |
temporary support vector (sdim x 1) | |
math::Matrix * | tmpZMat |
temporary support vector (zdim x 1) |
opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::UnscentedInfoFilterData | ( | ) |
opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::~UnscentedInfoFilterData | ( | ) |
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 (zdim x 1).
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::innov |
Measurement innovation (zdim x 1).
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::innov_ave |
Average of measurement innovations (zdim x 1).
int opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::measDim |
dimensions of measurement and state
math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pInfoMat |
Information matrix (sdim x sdim): prior, Y(k|k-1) and posterior Y(k|k).
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pInfoVec |
Information vector (sdim x 1) = Y*s, prior and posterior.
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::Psz |
Cross-covariance (state-measurement) (sdim x zdim).
int opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::stateDim |
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::tmpSMat |
temporary support vector (sdim x 1)
math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::tmpZMat |
temporary support vector (zdim x 1)