Fawkes API
Fawkes Development Version
Main Page
Related Pages
Modules
Namespaces
Classes
Files
File List
All
Classes
Namespaces
Functions
Variables
Typedefs
Enumerations
Enumerator
Friends
Groups
Pages
kalman_1d.h
1
/***************************************************************************
2
* kalman_1d.h - Kalman filter (one dimensional)
3
*
4
* Created: Mon Nov 10 2008
5
* Copyright 2008 Bahram Maleki-Fard
6
*
7
****************************************************************************/
8
9
/* This program is free software; you can redistribute it and/or modify
10
* it under the terms of the GNU General Public License as published by
11
* the Free Software Foundation; either version 2 of the License, or
12
* (at your option) any later version. A runtime exception applies to
13
* this software (see LICENSE.GPL_WRE file mentioned below for details).
14
*
15
* This program is distributed in the hope that it will be useful,
16
* but WITHOUT ANY WARRANTY; without even the implied warranty of
17
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18
* GNU Library General Public License for more details.
19
*
20
* Read the full text in the LICENSE.GPL_WRE file in the doc directory.
21
*/
22
23
namespace
fawkes {
24
25
class
KalmanFilter1D
26
{
27
public
:
28
KalmanFilter1D
(
float
noise_x = 1.0,
float
noise_z = 1.0,
float
mu = 0.0,
29
float
sig = 1.0);
30
~KalmanFilter1D
();
31
32
void
filter
(
float
observe);
33
void
filter
(
float
observe,
float
& mu,
float
& sig);
34
float
predict
()
const
;
35
float
predict
(
float
vel)
const
;
36
float
predict
(
float
vel,
int
steps,
float
noise_z)
const
;
37
float
predict
(
float
mu,
float
vel,
int
steps,
float
noise_z)
const
;
38
39
private
:
40
float
__noise_x;
/**< transition noise */
41
float
__noise_z;
/**< "sigma_z", sensor noise */
42
float
__mu;
/**< mean "mu" */
43
float
__sig;
/**< "sigma_0". sigma ~ standard deviation */
44
};
45
}
46
src
libs
utils
kalman
kalman_1d.h
Generated by
1.8.1.1