KalmanFilter.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>
FilterState< Scalar, N >	vulcan::estimation::kf_predict (const FilterState< Scalar, N > &state, const Eigen::Matrix< double, N, N > &F, const Eigen::Matrix< double, N, U > &B, const Eigen::Matrix< Scalar, U, 1 > &u, const ProcessNoise< N > &noise)
	Linear Kalman filter predict step.
template<typename Scalar, int N>
FilterState< Scalar, N >	vulcan::estimation::kf_predict (const FilterState< Scalar, N > &state, const Eigen::Matrix< double, N, N > &F, const ProcessNoise< N > &noise)
	Linear Kalman filter predict (no control input).
template<typename Scalar, int N, int M>
FilterState< Scalar, N >	vulcan::estimation::kf_update (const FilterState< Scalar, N > &state, const Eigen::Matrix< Scalar, M, 1 > &z, const Eigen::Matrix< double, M, N > &H, const MeasurementNoise< M > &noise)
	Linear Kalman filter update step.
template<typename Scalar, int N, int U, int M>
FilterState< Scalar, N >	vulcan::estimation::kf_step (const FilterState< Scalar, N > &state, const Eigen::Matrix< Scalar, U, 1 > &u, const Eigen::Matrix< Scalar, M, 1 > &z, const Eigen::Matrix< double, N, N > &F, const Eigen::Matrix< double, N, U > &B, const Eigen::Matrix< double, M, N > &H, const ProcessNoise< N > &Q, const MeasurementNoise< M > &R)
	Combined Kalman filter step (predict + update).
template<typename Scalar, int N, int M>
FilterState< Scalar, N >	vulcan::estimation::kf_step (const FilterState< Scalar, N > &state, const Eigen::Matrix< Scalar, M, 1 > &z, const Eigen::Matrix< double, N, N > &F, const Eigen::Matrix< double, M, N > &H, const ProcessNoise< N > &Q, const MeasurementNoise< M > &R)
	Combined Kalman filter step (no control input).