Fawkes API
Fawkes Development Version
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One-dimensional Kalman filter implementation for single-precision floats. More...
#include <>>
Public Member Functions | |
KalmanFilter1D (float noise_x=1.0, float noise_z=1.0, float mu=0.0, float sig=1.0) | |
Constructor. More... | |
~KalmanFilter1D () | |
Destructor. More... | |
void | filter (float observe) |
Filters an observation. More... | |
void | filter (float observe, float &mu, float &sig) |
Filters an observation. More... | |
float | predict () const |
Predicts the next position based on the past observations. More... | |
float | predict (float vel) const |
Predicts the next position based on the past observations. More... | |
float | predict (float vel, int steps, float noise_z) const |
Predicts the next position based on the past observations. More... | |
float | predict (float mu, float vel, int steps, float noise_z) const |
Predicts the next position based on the past observations. More... | |
One-dimensional Kalman filter implementation for single-precision floats.
Definition at line 25 of file kalman_1d.h.
fawkes::KalmanFilter1D::KalmanFilter1D | ( | float | noise_x = 1.0 , |
float | noise_z = 1.0 , |
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float | mu = 0.0 , |
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float | sig = 1.0 |
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Constructor.
noise_x | Transition noise, by default 1.0. |
noise_z | Sensor noise, by default 1.0. |
mu | Initial mu, by default 0.0. |
sig | Standard deviation, by default 1.0. |
Definition at line 39 of file kalman_1d.cpp.
fawkes::KalmanFilter1D::~KalmanFilter1D | ( | ) |
Destructor.
Definition at line 48 of file kalman_1d.cpp.
void fawkes::KalmanFilter1D::filter | ( | float | observe | ) |
Filters an observation.
The internal mean and deviation are updated.
observe | The observation. |
Definition at line 56 of file kalman_1d.cpp.
void fawkes::KalmanFilter1D::filter | ( | float | observe, |
float & | mu, | ||
float & | sig | ||
) |
Filters an observation.
The resulting mu and sig are not only stored internally, but also in the given parameters mean and deviation.
observe | The observation. |
mu | The mean (out parameter). |
sig | The deviation (out parameter) |
Definition at line 71 of file kalman_1d.cpp.
float fawkes::KalmanFilter1D::predict | ( | ) | const |
Predicts the next position based on the past observations.
Equivalent to predict(0.0), i.e. velocity 0.0.
Definition at line 82 of file kalman_1d.cpp.
Referenced by predict().
float fawkes::KalmanFilter1D::predict | ( | float | vel | ) | const |
Predicts the next position based on the past observations.
Equivalent to predict(vel, 1, 0.0).
vel | The velocity of the object, 0.0 by default. |
Definition at line 94 of file kalman_1d.cpp.
References predict().
float fawkes::KalmanFilter1D::predict | ( | float | vel, |
int | steps, | ||
float | noise_z | ||
) | const |
Predicts the next position based on the past observations.
vel | The velocity of the object. |
steps | The steps to look into the future. |
noise_z | Sensor noise. |
Definition at line 107 of file kalman_1d.cpp.
References predict().
float fawkes::KalmanFilter1D::predict | ( | float | mu, |
float | vel, | ||
int | steps, | ||
float | noise_z | ||
) | const |
Predicts the next position based on the past observations.
mu | Explicitely |
vel | The velocity of the object, 0.0 by default. |
steps | The steps to look into the future, 1 by default. |
noise_z | Sensor noise. |
Definition at line 120 of file kalman_1d.cpp.