filters::Output Class Reference

Represent an output for a system. More...

#include <MultiSensorEKF.h>

Collaboration diagram for filters::Output:

Public Types
using	outputfunc_t

Public Member Functions
	Output (int stateDim, int outputDim, int outputNoiseDim, const outputfunc_t &outputFunc, const statespace::NoiseCovMatX &covMat)
	Create an output for a model.
Eigen::MatrixXd	outputFuncJacobianX (const Eigen::VectorXd &state)
	Calculate the output function jacobian at the given state wrt state.
Eigen::MatrixXd	outputFuncJacobianV (const Eigen::VectorXd &state)
	Calculate the output function jacobian at the given state wrt the output noise.
Eigen::VectorXd	getOutput (const Eigen::VectorXd &state)
	Evaluate the output function at the given state.
void	setOutputFuncJacobianX (const std::function< Eigen::MatrixXd(const Eigen::VectorXd &, const Eigen::VectorXd &)> &jacobianX)
	Set an analytic solution to dh/dx.
void	setOutputFuncJacobianV (const std::function< Eigen::MatrixXd(const Eigen::VectorXd &, const Eigen::VectorXd &)> &jacobianV)
	Set an analytic solution to dh/dv.

Public Attributes
const int	stateDim
const int	outputDim
const int	outputNoiseDim
const outputfunc_t	outputFunc
const statespace::NoiseCovMatX	covMat

Detailed Description

Represent an output for a system.

This represents a sensor.

Member Typedef Documentation

outputfunc_t

using filters::Output::outputfunc_t

Initial value:

 
        std::function<Eigen::VectorXd(const Eigen::VectorXd&, const Eigen::VectorXd&)>

Constructor & Destructor Documentation

Output()

filters::Output::Output ( int stateDim, int outputDim, int outputNoiseDim, const outputfunc_t & outputFunc, const statespace::NoiseCovMatX & covMat )

inline

Create an output for a model.

Parameters

stateDim	The dimension of the state vector.
outputDim	The dimension of the output vector (measurement).
outputNoiseDim	The dimension of the noise applied to the output.
outputFunc	The output function that takes a state vector and output noise vector and produces an output vector.
covMat	The covariance matrix of the output noise vector. The state dimension must be statedim, the parameter size must outputDim and the size must be outputnoiseDim

Member Function Documentation

getOutput()

Eigen::VectorXd filters::Output::getOutput ( const Eigen::VectorXd & state )

inline

Evaluate the output function at the given state.

Parameters

state

The state vector to evaluate at.

Returns

Eigen::VectorXd An output vector of dimension outputDim.

outputFuncJacobianV()

Eigen::MatrixXd filters::Output::outputFuncJacobianV ( const Eigen::VectorXd & state )

inline

Calculate the output function jacobian at the given state wrt the output noise.

If an analytic solution has been provided, the jacobian is calculated using that. Otherwise, it is numerically approximated using the output function.

Parameters

state

The state to evaluate the jacobian at.

Returns

Eigen::MatrixXd The outputDim x processNoiseDim jacobian matrix.

outputFuncJacobianX()

Eigen::MatrixXd filters::Output::outputFuncJacobianX ( const Eigen::VectorXd & state )

inline

Calculate the output function jacobian at the given state wrt state.

If an analytic solution has been provided, the jacobian is calculated using that. Otherwise, it is numerically approximated using the output function.

Parameters

state

The state to evaluate the jacobian at.

Returns

Eigen::MatrixXd The outputDim x stateDim jacobian matrix.

setOutputFuncJacobianV()

void filters::Output::setOutputFuncJacobianV ( const std::function< Eigen::MatrixXd(const Eigen::VectorXd &, const Eigen::VectorXd &)> & jacobianV )

inline

Set an analytic solution to dh/dv.

Behavior is undefined if the supplied functions do not accept or return vectors/matrices of the correct dimensions.

Parameters

jacobianV

The analytic solution to dh/dv. The jacobian function takes a state vector and an output noise vector and returns a outputDim x outputNoiseDim jacobian matrix.

Warning

Behavior is undefined if the supplied functions do not accept or return vectors/matrices of the correct dimensions.

setOutputFuncJacobianX()

void filters::Output::setOutputFuncJacobianX ( const std::function< Eigen::MatrixXd(const Eigen::VectorXd &, const Eigen::VectorXd &)> & jacobianX )

inline

Set an analytic solution to dh/dx.

Behavior is undefined if the supplied functions do not accept or return vectors/matrices of the correct dimensions.

Parameters

jacobianV

The analytic solution to dh/dx. The jacobian function takes a state vector and an output noise vector and returns a outputDim x stateDim jacobian matrix.

Warning

Behavior is undefined if the supplied functions do not accept or return vectors/matrices of the correct dimensions.

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

• src/filters/MultiSensorEKF.h