mars::Ekf Class Reference

#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.
Eigen::MatrixXd	CalculateCorrection ()
	Kalman gain.
Eigen::MatrixXd	CalculateCorrection (Chi2 *chi2)
	CalculateCorrection Calculating the state correction with a post Chi2 test.
Eigen::MatrixXd	CalculateCovUpdate ()
	CalculateCovUpdate Updating the state covariance after the state update.

Public Attributes
Eigen::MatrixXd	H_
Eigen::MatrixXd	R_
	Jacobian.
Eigen::MatrixXd	res_
	Measurement noise.
Eigen::MatrixXd	P_
	Residual.
Eigen::MatrixXd	S_
	State covariance.
Eigen::MatrixXd	K_
	Innovation / variance of the residual.

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

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.

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

• ekf.h