Visual Servoing Platform version 3.6.0
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vpKalmanFilter.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 vpKalmanFilter_h
35#define vpKalmanFilter_h
36
37#include <visp3/core/vpColVector.h>
38#include <visp3/core/vpMatrix.h>
39
40#include <math.h>
41
104class VISP_EXPORT vpKalmanFilter
105{
106protected:
107 // bool init_done ;
108
110 long iter;
111
113 unsigned int size_state;
115 unsigned int size_measure;
117 unsigned int nsignal;
118
122
123public:
125 explicit vpKalmanFilter(unsigned int n_signal);
126 vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int n_signal);
128 virtual ~vpKalmanFilter(){};
132 void setNumberOfSignal(unsigned int n_signal) { this->nsignal = n_signal; }
133
134 // int init() { return init_done ; }
135 void init(unsigned int size_state, unsigned int size_measure, unsigned int n_signal);
136 void prediction();
137 void filtering(const vpColVector &z);
141 unsigned int getStateSize() { return size_state; };
145 unsigned int getMeasureSize() { return size_measure; };
149 unsigned int getNumberOfSignal() { return nsignal; };
153 long getIteration() { return iter; }
159 void verbose(bool on) { verbose_mode = on; };
160
161public:
176
179
187 double dt;
195
202
203protected:
210
213};
214
215#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 .
vpColVector Xpre
long iter
Filter step or iteration. When set to zero, initialize the filter.
virtual ~vpKalmanFilter()
unsigned int getMeasureSize()
vpMatrix R
Measurement noise covariance matrix .
void verbose(bool on)
unsigned int nsignal
Number of signal to filter.
vpMatrix Q
Process noise covariance matrix .
void setNumberOfSignal(unsigned int n_signal)
vpColVector Xest
unsigned int size_measure
Size of the measure vector .
unsigned int getNumberOfSignal()
vpMatrix I
Identity matrix .
vpMatrix H
Matrix that describes the evolution of the measurements.
unsigned int getStateSize()
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152