UnscentedKF.hpp File Reference

#include <vulcan/estimation/EstimationTypes.hpp>

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Classes
struct	vulcan::estimation::UKFParams
	UKF tuning parameters. More...

Namespaces
namespace	vulcan
namespace	vulcan::estimation

Functions
template<int N>
Eigen::Matrix< double, N, 2 *N+1 >	vulcan::estimation::sigma_points (const Eigen::Matrix< double, N, 1 > &x, const Eigen::Matrix< double, N, N > &P, const UKFParams &params)
	Generate sigma points for UKF.
template<int N, int U, typename DynamicsFunc>
FilterState< double, N >	vulcan::estimation::ukf_predict (const FilterState< double, N > &state, const Eigen::Matrix< double, U, 1 > &u, DynamicsFunc f, const ProcessNoise< N > &noise, const UKFParams &params={})
	Unscented Kalman filter predict step.
template<int N, typename DynamicsFunc>
FilterState< double, N >	vulcan::estimation::ukf_predict (const FilterState< double, N > &state, DynamicsFunc f, const ProcessNoise< N > &noise, const UKFParams &params={})
	UKF predict (no control input).
template<int N, int M, typename MeasurementFunc>
FilterState< double, N >	vulcan::estimation::ukf_update (const FilterState< double, N > &state, const Eigen::Matrix< double, M, 1 > &z, MeasurementFunc h, const MeasurementNoise< M > &noise, const UKFParams &params={})
	Unscented Kalman filter update step.
template<int N, int U, int M, typename DynamicsFunc, typename MeasurementFunc>
FilterState< double, N >	vulcan::estimation::ukf_step (const FilterState< double, N > &state, const Eigen::Matrix< double, U, 1 > &u, const Eigen::Matrix< double, M, 1 > &z, DynamicsFunc f, MeasurementFunc h, const ProcessNoise< N > &Q, const MeasurementNoise< M > &R, const UKFParams &params={})
	Combined UKF step (predict + update).