Visual Servoing Platform version 3.5.0
vpKalmanFilter.h
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
12 *
13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
16 *
17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
24 *
25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Kalman filtering.
33 *
34 * Authors:
35 * Eric Marchand
36 * Fabien Spindler
37 *
38 *****************************************************************************/
39
40#ifndef vpKalmanFilter_h
41#define vpKalmanFilter_h
42
43#include <visp3/core/vpColVector.h>
44#include <visp3/core/vpMatrix.h>
45
46#include <math.h>
47
110class VISP_EXPORT vpKalmanFilter
111{
112protected:
113 // bool init_done ;
114
116 long iter;
117
119 unsigned int size_state;
121 unsigned int size_measure;
123 unsigned int nsignal;
124
128
129public:
131 explicit vpKalmanFilter(unsigned int n_signal);
132 vpKalmanFilter(unsigned int size_state, unsigned int size_measure, unsigned int n_signal);
134 virtual ~vpKalmanFilter(){};
138 void setNumberOfSignal(unsigned int n_signal) { this->nsignal = n_signal; }
139
140 // int init() { return init_done ; }
141 void init(unsigned int size_state, unsigned int size_measure, unsigned int n_signal);
142 void prediction();
143 void filtering(const vpColVector &z);
147 unsigned int getStateSize() { return size_state; };
151 unsigned int getMeasureSize() { return size_measure; };
155 unsigned int getNumberOfSignal() { return nsignal; };
159 long getIteration() { return iter; }
165 void verbose(bool on) { verbose_mode = on; };
166
167public:
182
185
193 double dt;
201
208
209protected:
216
219};
220
221#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
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:154