#include </home/runner/work/mars_lib/mars_lib/source/mars/include/mars/ekf.h>

Collaboration diagram for mars::Ekf:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Ekf (const Eigen::Ref< const Eigen::MatrixXd > &H, const Eigen::Ref< const Eigen::MatrixXd > &R, const Eigen::Ref< const Eigen::MatrixXd > &res, const Eigen::Ref< const Eigen::MatrixXd > &P)
	Ekf Essential EFK update component. More...

Eigen::MatrixXd	CalculateCorrection ()
	Kalman gain. More...

Eigen::MatrixXd	CalculateCorrection (Chi2 *chi2)
	CalculateCorrection Calculating the state correction with a post Chi2 test. More...

Eigen::MatrixXd	CalculateCovUpdate ()
	CalculateCovUpdate Updating the state covariance after the state update. More...

Public Attributes
Eigen::MatrixXd	H_

Eigen::MatrixXd	R_
	Jacobian. More...

Eigen::MatrixXd	res_
	Measurement noise. More...

Eigen::MatrixXd	P_
	Residual. More...

Eigen::MatrixXd	S_
	State covariance. More...

Eigen::MatrixXd	K_
	Innovation / variance of the residual. More...

Private Member Functions
Eigen::MatrixXd	CalculateStateCorrection ()
	CalculateStateCorrection Calculation of EKF components, correction, innovation etc. More...

Constructor & Destructor Documentation

◆ Ekf()

EIGEN_MAKE_ALIGNED_OPERATOR_NEW mars::Ekf::Ekf	(	const Eigen::Ref< const Eigen::MatrixXd > &	H,
		const Eigen::Ref< const Eigen::MatrixXd > &	R,
		const Eigen::Ref< const Eigen::MatrixXd > &	res,
		const Eigen::Ref< const Eigen::MatrixXd > &	P
	)

inline

Ekf Essential EFK update component.

Parameters

H	Jacobian
R	Measurement noise
res	Residual
P	State covariance

   {
     this->H_ = H;
     this->R_ = R;
     this->res_ = res;
     this->P_ = P;
   }

Member Function Documentation

◆ CalculateCorrection() [1/2]

Eigen::MatrixXd mars::Ekf::CalculateCorrection ( )

Kalman gain.

CalculateCorrection Calculating the state correction without a post Chi2 test

Returns

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◆ CalculateCorrection() [2/2]

Eigen::MatrixXd mars::Ekf::CalculateCorrection ( Chi2 * chi2 )

CalculateCorrection Calculating the state correction with a post Chi2 test.

Parameters

chi2	'Chi2' class based on the sensor measurement

Returns

◆ CalculateCovUpdate()

Eigen::MatrixXd mars::Ekf::CalculateCovUpdate ( )

CalculateCovUpdate Updating the state covariance after the state update.

Returns: Updated state covariance matrix

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◆ CalculateStateCorrection()

Eigen::MatrixXd mars::Ekf::CalculateStateCorrection ( )

private

CalculateStateCorrection Calculation of EKF components, correction, innovation etc.

Returns: State correction vector

Member Data Documentation

◆ H_

Eigen::MatrixXd mars::Ekf::H_

◆ R_

Eigen::MatrixXd mars::Ekf::R_

Jacobian.

◆ res_

Eigen::MatrixXd mars::Ekf::res_

Measurement noise.

◆ P_

Eigen::MatrixXd mars::Ekf::P_

Residual.

◆ S_

Eigen::MatrixXd mars::Ekf::S_

State covariance.

◆ K_

Eigen::MatrixXd mars::Ekf::K_

Innovation / variance of the residual.

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

ekf.h

Public Member Functions

Public Attributes

Private Member Functions