ExtendedKF.hpp File Reference

#include <vulcan/estimation/EstimationTypes.hpp>

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Namespaces
namespace	vulcan
namespace	vulcan::estimation

Functions
template<typename Scalar, int N, int U, typename DynamicsFunc>
FilterState< Scalar, N >	vulcan::estimation::ekf_predict (const FilterState< Scalar, N > &state, const Eigen::Matrix< Scalar, U, 1 > &u, DynamicsFunc f, const Eigen::Matrix< double, N, N > &F, const ProcessNoise< N > &noise)
	Extended Kalman filter predict step.
template<typename Scalar, int N, typename DynamicsFunc>
FilterState< Scalar, N >	vulcan::estimation::ekf_predict (const FilterState< Scalar, N > &state, DynamicsFunc f, const Eigen::Matrix< double, N, N > &F, const ProcessNoise< N > &noise)
	Extended Kalman filter predict (no control input).
template<typename Scalar, int N, int M, typename MeasurementFunc>
FilterState< Scalar, N >	vulcan::estimation::ekf_update (const FilterState< Scalar, N > &state, const Eigen::Matrix< Scalar, M, 1 > &z, MeasurementFunc h, const Eigen::Matrix< double, M, N > &H, const MeasurementNoise< M > &noise)
	Extended Kalman filter update step.
template<typename Scalar, int N, int U, int M, typename DynamicsFunc, typename MeasurementFunc>
FilterState< Scalar, N >	vulcan::estimation::ekf_step (const FilterState< Scalar, N > &state, const Eigen::Matrix< Scalar, U, 1 > &u, const Eigen::Matrix< Scalar, M, 1 > &z, DynamicsFunc f, MeasurementFunc h, const Eigen::Matrix< double, N, N > &F, const Eigen::Matrix< double, M, N > &H, const ProcessNoise< N > &Q, const MeasurementNoise< M > &R)
	Combined EKF step (predict + update).