fawkes::KalmanFilter1D Class Reference

One-dimensional Kalman filter implementation for single-precision floats. More...

#include <>>

List of all members.

Public Member Functions
	KalmanFilter1D (float noise_x=1.0, float noise_z=1.0, float mu=0.0, float sig=1.0)
	Constructor.
	~KalmanFilter1D ()
	Destructor.
void	filter (float observe)
	Filters an observation.
void	filter (float observe, float &mu, float &sig)
	Filters an observation.
float	predict () const
	Predicts the next position based on the past observations.
float	predict (float vel) const
	Predicts the next position based on the past observations.
float	predict (float vel, int steps, float noise_z) const
	Predicts the next position based on the past observations.
float	predict (float mu, float vel, int steps, float noise_z) const
	Predicts the next position based on the past observations.

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Detailed Description

One-dimensional Kalman filter implementation for single-precision floats.

Author:

Bahram Maleki-Fard

Definition at line 25 of file kalman_1d.h.

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Constructor & Destructor Documentation

fawkes::KalmanFilter1D::KalmanFilter1D	(	float	noise_x = 1.0,
		float	noise_z = 1.0,
		float	mu = 0.0,
		float	sig = 1.0
	)

Constructor.

Parameters:

noise_x	Transition noise, by default 1.0.
noise_z	Sensor noise, by default 1.0.
mu	Initial mu, by default 0.0.
sig	Standard deviation, by default 1.0.

Definition at line 39 of file kalman_1d.cpp.

fawkes::KalmanFilter1D::~KalmanFilter1D

(

)

Destructor.

Definition at line 48 of file kalman_1d.cpp.

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Member Function Documentation

void fawkes::KalmanFilter1D::filter

(

float

observe

)

Filters an observation.

The internal mean and deviation are updated.

Parameters:

observe

The observation.

Definition at line 56 of file kalman_1d.cpp.

void fawkes::KalmanFilter1D::filter	(	float	observe,
		float &	mu,
		float &	sig
	)

Filters an observation.

The resulting mu and sig are not only stored internally, but also in the given parameters mean and deviation.

Parameters:

observe	The observation.
mu	The mean (out parameter).
sig	The deviation (out parameter)

Definition at line 71 of file kalman_1d.cpp.

float fawkes::KalmanFilter1D::predict

(

)

const

Predicts the next position based on the past observations.

Equivalent to predict(0.0), i.e. velocity 0.0.

Returns:

predicted value

Definition at line 82 of file kalman_1d.cpp.

Referenced by predict().

float fawkes::KalmanFilter1D::predict

(

float

vel

)

const

Predicts the next position based on the past observations.

Equivalent to predict(vel, 1, 0.0).

Parameters:

vel	The velocity of the object, 0.0 by default.

Returns:

predicted value

Definition at line 94 of file kalman_1d.cpp.

References predict().

float fawkes::KalmanFilter1D::predict	(	float	vel,
		int	steps,
		float	noise_z
	)		const

Predicts the next position based on the past observations.

Parameters:

vel	The velocity of the object.
steps	The steps to look into the future.
noise_z	Sensor noise.

Returns:

predicted value

Definition at line 107 of file kalman_1d.cpp.

References predict().

float fawkes::KalmanFilter1D::predict	(	float	mu,
		float	vel,
		int	steps,
		float	noise_z
	)		const

Predicts the next position based on the past observations.

Parameters:

mu	Explicitely
vel	The velocity of the object, 0.0 by default.
steps	The steps to look into the future, 1 by default.
noise_z	Sensor noise.

Returns:

predicted value

Definition at line 120 of file kalman_1d.cpp.

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The documentation for this class was generated from the following files:

• src/libs/utils/kalman/kalman_1d.h
• src/libs/utils/kalman/kalman_1d.cpp