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iau_ukf Class Reference

#include <iau_ukf_eigen.h>

Classes

class  errwrapper
 
class  standardwrapper
 
class  UTfunctionWrapper
 

Static Public Member Functions

template<int statedim, int procnoisedim, int inputdim, class host >
static void predict (Matrix< double, statedim, 1 > &stateest, Matrix< double, statedim, statedim > &statecov, const Matrix< double, inputdim, 1 > &input, const Matrix< double, procnoisedim, procnoisedim > &noisecov, host &hostobj, Matrix< double, statedim, 1 >(host::*statetrans)(const Matrix< double, statedim, 1 > &oldstate, const Matrix< double, procnoisedim, 1 > &noise, const Matrix< double, inputdim, 1 > &input))
 
template<int indim, int noisedim, int outdim, class auxclass , class host >
static void unscentedtransform (Matrix< double, indim, 1 > &inest, Matrix< double, indim, indim > &incov, Matrix< double, noisedim, noisedim > &noisecov, Matrix< double, outdim, 1 > &outest, Matrix< double, outdim, outdim > &outcov, auxclass auxin, host &hostobj, Matrix< double, outdim, 1 >(host::*transformation)(Matrix< double, indim, 1 > input, Matrix< double, noisedim, 1 > noise, auxclass auxin))
 
template<int indim, int outdim, class auxclass , class host >
static void unscentedtransform (Matrix< double, indim, 1 > &inest, Matrix< double, indim, indim > &incov, Matrix< double, outdim, 1 > &outest, Matrix< double, outdim, outdim > &outcov, auxclass auxin, host &hostobj, Matrix< double, outdim, 1 >(host::*transformation)(Matrix< double, indim, 1 >, auxclass))
 
template<int indim, int outdim, class auxclass >
static void unscentedtransform (Matrix< double, indim, 1 > &inest, Matrix< double, indim, indim > &incov, Matrix< double, outdim, 1 > &outest, Matrix< double, outdim, outdim > &outcov, auxclass auxin, Matrix< double, outdim, 1 >(*transformation)(Matrix< double, indim, 1 >, auxclass))
 
template<int statedim, int measnoisedim, int measdim, class auxclass , class host >
static double update (Matrix< double, statedim, 1 > &stateest, Matrix< double, statedim, statedim > &statecov, const Matrix< double, measdim, 1 > meas, const Matrix< double, measnoisedim, measnoisedim > noisecov, auxclass auxin, host &hostobj, Matrix< double, measdim, 1 >(host::*measerreq)(Matrix< double, statedim, 1 > state, Matrix< double, measnoisedim, 1 > noise, Matrix< double, measdim, 1 > meas, auxclass auxin))
 
template<int statedim, int measnoisedim, int measdim, class auxclass >
static void update (Matrix< double, statedim, 1 > &stateest, Matrix< double, statedim, statedim > &statecov, const Matrix< double, measdim, 1 > meas, const Matrix< double, measnoisedim, measnoisedim > noisecov, auxclass auxin, Matrix< double, measdim, 1 > measeq(Matrix< double, statedim, 1 > state, Matrix< double, measnoisedim, 1 > noise, auxclass auxin))
 
template<int statedim, int measnoisedim, int measdim, class auxclass >
static void update (Matrix< double, statedim, 1 > &stateest, Matrix< double, statedim, statedim > &statecov, const Matrix< double, measdim, 1 > meas, const Matrix< double, measnoisedim, measnoisedim > noisecov, auxclass auxin, Matrix< double, measdim, 1 > measerreq(Matrix< double, statedim, 1 > state, Matrix< double, measnoisedim, 1 > noise, Matrix< double, measdim, 1 > meas, auxclass auxin))
 

Member Function Documentation

template<int statedim, int procnoisedim, int inputdim, class host >
static void iau_ukf::predict ( Matrix< double, statedim, 1 > &  stateest,
Matrix< double, statedim, statedim > &  statecov,
const Matrix< double, inputdim, 1 > &  input,
const Matrix< double, procnoisedim, procnoisedim > &  noisecov,
host &  hostobj,
Matrix< double, statedim, 1 >(host::*)(const Matrix< double, statedim, 1 > &oldstate, const Matrix< double, procnoisedim, 1 > &noise, const Matrix< double, inputdim, 1 > &input)  statetrans 
)
static

Referenced by MultiHypDist< 3 >::predict().

template<int indim, int noisedim, int outdim, class auxclass , class host >
static void iau_ukf::unscentedtransform ( Matrix< double, indim, 1 > &  inest,
Matrix< double, indim, indim > &  incov,
Matrix< double, noisedim, noisedim > &  noisecov,
Matrix< double, outdim, 1 > &  outest,
Matrix< double, outdim, outdim > &  outcov,
auxclass  auxin,
host &  hostobj,
Matrix< double, outdim, 1 >(host::*)(Matrix< double, indim, 1 > input, Matrix< double, noisedim, 1 > noise, auxclass auxin)  transformation 
)
static
template<int indim, int outdim, class auxclass , class host >
static void iau_ukf::unscentedtransform ( Matrix< double, indim, 1 > &  inest,
Matrix< double, indim, indim > &  incov,
Matrix< double, outdim, 1 > &  outest,
Matrix< double, outdim, outdim > &  outcov,
auxclass  auxin,
host &  hostobj,
Matrix< double, outdim, 1 >(host::*)(Matrix< double, indim, 1 >, auxclass)  transformation 
)
static
template<int indim, int outdim, class auxclass >
static void iau_ukf::unscentedtransform ( Matrix< double, indim, 1 > &  inest,
Matrix< double, indim, indim > &  incov,
Matrix< double, outdim, 1 > &  outest,
Matrix< double, outdim, outdim > &  outcov,
auxclass  auxin,
Matrix< double, outdim, 1 >(*)(Matrix< double, indim, 1 >, auxclass)  transformation 
)
static
template<int statedim, int measnoisedim, int measdim, class auxclass , class host >
static double iau_ukf::update ( Matrix< double, statedim, 1 > &  stateest,
Matrix< double, statedim, statedim > &  statecov,
const Matrix< double, measdim, 1 >  meas,
const Matrix< double, measnoisedim, measnoisedim >  noisecov,
auxclass  auxin,
host &  hostobj,
Matrix< double, measdim, 1 >(host::*)(Matrix< double, statedim, 1 > state, Matrix< double, measnoisedim, 1 > noise, Matrix< double, measdim, 1 > meas, auxclass auxin)  measerreq 
)
static

Referenced by UFuncLocalize::handleLocalizeMHF(), UFuncLocalize::handleLocalizeUKF(), and MultiHypDist< 3 >::update().

template<int statedim, int measnoisedim, int measdim, class auxclass >
static void iau_ukf::update ( Matrix< double, statedim, 1 > &  stateest,
Matrix< double, statedim, statedim > &  statecov,
const Matrix< double, measdim, 1 >  meas,
const Matrix< double, measnoisedim, measnoisedim >  noisecov,
auxclass  auxin,
Matrix< double, measdim, 1 >   measeqMatrix< double, statedim, 1 > state, Matrix< double, measnoisedim, 1 > noise, auxclass auxin 
)
static
template<int statedim, int measnoisedim, int measdim, class auxclass >
static void iau_ukf::update ( Matrix< double, statedim, 1 > &  stateest,
Matrix< double, statedim, statedim > &  statecov,
const Matrix< double, measdim, 1 >  meas,
const Matrix< double, measnoisedim, measnoisedim >  noisecov,
auxclass  auxin,
Matrix< double, measdim, 1 >   measerreqMatrix< double, statedim, 1 > state, Matrix< double, measnoisedim, 1 > noise, Matrix< double, measdim, 1 > meas, auxclass auxin 
)
static
The documentation for this class was generated from the following file:
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