Inheritance diagram for filters::MultiSensorEKF< stateDim, inputDim, processNoiseDim, numOutputs >:

Collaboration diagram for filters::MultiSensorEKF< stateDim, inputDim, processNoiseDim, numOutputs >:

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Public Types
using	state_t = navtypes::Vectord<stateDim>

using	input_t = navtypes::Vectord<inputDim>

using	processnoise_t = navtypes::Vectord<processNoiseDim>

using	statefunc_t

Public Member Functions
	MultiSensorEKF (const statefunc_t &stateFunc, const statespace::NoiseCovMat< stateDim, processNoiseDim, inputDim > &processNoise, double dt, const std::array< Output, numOutputs > &outputs)

void	predict (const input_t &input) override

void	correct (int outputIdx, const Eigen::VectorXd &measurement)

template<int outputIdx>
void	correct (const Eigen::VectorXd &measurement)

void	setStateFuncJacobianX (const std::function< navtypes::Matrixd< stateDim, stateDim >(const state_t &, const input_t &, const processnoise_t &)> &stateFuncJacobianX)

void	setStateFuncJacobianW (const std::function< navtypes::Matrixd< stateDim, processNoiseDim >(const state_t &, const input_t &, const processnoise_t &)> &stateFuncJacobianW)

navtypes::Matrixd< stateDim, stateDim >	stateFuncJacobianX (const state_t &x, const input_t &u)

navtypes::Matrixd< stateDim, processNoiseDim >	stateFuncJacobianW (const state_t &x, const input_t &u)

Public Member Functions inherited from filters::KalmanFilterBase< stateDim, inputDim >
virtual void	predict (const Eigen::Matrix< double, inputDim, 1 > &input)=0
	Use the model to predict the next system state, given the current inputs.

void	reset ()
	Reset the filter.

void	reset (const Eigen::Matrix< double, stateDim, 1 > &state)
	Reset the filter.

void	reset (const Eigen::Matrix< double, stateDim, 1 > &state, const Eigen::Matrix< double, stateDim, 1 > &stdDevs)
	Reset the filter.

void	reset (const Eigen::Matrix< double, stateDim, 1 > &state, const Eigen::Matrix< double, stateDim, stateDim > &estCovMat)
	Reset the filter.

Eigen::Matrix< double, stateDim, 1 >	getState () const
	Gets the current state estimate.

Eigen::Matrix< double, stateDim, stateDim >	getEstimateCovarianceMat () const
	Get the current estimate covariance matrix.

Additional Inherited Members
Protected Attributes inherited from filters::KalmanFilterBase< stateDim, inputDim >
Eigen::Matrix< double, stateDim, stateDim >	P

Eigen::Matrix< double, stateDim, 1 >	xHat

Member Typedef Documentation

◆ statefunc_t

template<int stateDim, int inputDim, int processNoiseDim, int numOutputs>

using filters::MultiSensorEKF< stateDim, inputDim, processNoiseDim, numOutputs >::statefunc_t

Initial value:

std::function<state_t(const state_t&, const input_t&, const processnoise_t&)>

The documentation for this class was generated from the following file:

src/filters/MultiSensorEKF.h

Public Types

Public Member Functions

Additional Inherited Members

Member Typedef Documentation

◆ statefunc_t