Visual Servoing Platform version 3.6.0
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vpLinearKalmanFilterInstantiation.h
1/*
2 * ViSP, open source Visual Servoing Platform software.
3 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4 *
5 * This software is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 2 of the License, or
8 * (at your option) any later version.
9 * See the file LICENSE.txt at the root directory of this source
10 * distribution for additional information about the GNU GPL.
11 *
12 * For using ViSP with software that can not be combined with the GNU
13 * GPL, please contact Inria about acquiring a ViSP Professional
14 * Edition License.
15 *
16 * See https://visp.inria.fr for more information.
17 *
18 * This software was developed at:
19 * Inria Rennes - Bretagne Atlantique
20 * Campus Universitaire de Beaulieu
21 * 35042 Rennes Cedex
22 * France
23 *
24 * If you have questions regarding the use of this file, please contact
25 * Inria at visp@inria.fr
26 *
27 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29 *
30 * Description:
31 * Kalman filtering.
32 */
33
34#ifndef vpLinearKalmanFilterInstantiation_h
35#define vpLinearKalmanFilterInstantiation_h
36
37#include <visp3/core/vpKalmanFilter.h>
38
39#include <math.h>
40
53{
54public:
77
85
91 inline vpStateModel getStateModel() { return model; }
92 void filter(vpColVector &z);
93
96 inline void setStateModel(vpStateModel model);
97
98 void initFilter(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure, double rho, double dt);
100
103 void initStateConstVel_MeasurePos(unsigned int nsignal, vpColVector &sigma_state, vpColVector &sigma_measure,
104 double dt);
105 void initStateConstVelWithColoredNoise_MeasureVel(unsigned int nsignal, vpColVector &sigma_state,
106 vpColVector &sigma_measure, double rho);
108
111 void initStateConstAccWithColoredNoise_MeasureVel(unsigned int nsignal, vpColVector &sigma_state,
112 vpColVector &sigma_measure, double rho, double dt);
114
115protected:
117};
118
142{
143 this->model = mdl;
144 switch (model) {
147 size_state = 2;
148 size_measure = 1;
149 break;
151 size_state = 3;
152 size_measure = 1;
153 break;
154 case unknown:
155 size_state = 0;
156 size_measure = 0;
157 break;
158 }
159}
160
161#endif
Implementation of column vector and the associated operations.
This class provides a generic Kalman filtering algorithm along with some specific state model (consta...
unsigned int size_state
Size of the state vector .
unsigned int size_measure
Size of the measure vector .
This class provides an implementation of some specific linear Kalman filters.