#include <EkfDynamics.hpp>

Inheritance diagram for warpos::EkfDynamics< N, O, D >:

Public Member Functions
virtual int16	calculateDynamics (floating_point time, const std::array< floating_point, N > &tar_state, const std::array< floating_point, O > &obs_state, std::array< floating_point, N > &tar_state_dot)
	Function to calculate a state time derivative from current state of system.
virtual int16	calculateDynamicsJacobian (floating_point time, const std::array< floating_point, N > &tar_state, const std::array< floating_point, O > &obs_state, std::array< floating_point, N *N > &dynamics_Jacobian)
	Function to calculate the dynamics function Jacobian from current state of system.
virtual int16	calculateDynamicsNoiseMappingMatrix (floating_point time, const std::array< floating_point, N > &tar_state, const std::array< floating_point, O > &obs_state, std::array< floating_point, N *D > &dynamics_mapping)
	Function to calculate the matrix that maps the noise configuration space to the state configuration space.
virtual int16	calculateNoiseCovariance (floating_point time, const std::array< floating_point, N > &tar_state, const std::array< floating_point, O > &obs_state, std::array< floating_point, D *D > &process_covariance)
	Function to calculate the covariance matrix of a given process with a specific noise profile.
virtual int16	calculateObserverDynamics (floating_point time, const std::array< floating_point, N > &tar_state, const std::array< floating_point, O > &obs_state, std::array< floating_point, O > &obs_state_dot)
	Function to calculate the observer state vector time vector.
int16	calculateRates (floating_point time, const std::array< floating_point, N+N N+O > &state, std::array< floating_point, N+N N+O > &out_rates) override
	Function to calculate rates from current state of system.
Public Member Functions inherited from warpos::Rates< N+N *N+O >
virtual int16	calculateRates (floating_point time, const std::array< floating_point, N > &state, std::array< floating_point, N > &out_rates)
	Function to calculate rates from current state of system.

Detailed Description

template<uint32 N, uint32 O, uint32 D>
class warpos::EkfDynamics< N, O, D >

The dynamics class defines a generic, templated base class which may be used generically as a time update in the EKF time update class. The values N, O, and D should be assigned and are defined as follows: N - The number of states in the target state vector. i.e. 3 for [x, y, z] O - The number of observer states. May be unused but could be i.e. another [x, y, z] for range D - The number of noise states. Typically the same as N but could be i.e. state is [range, rangerate] but noise is modeled as [x, y, z] variances

This class should be inherited from for each state dynamics used on a system

Author: James Tabony james.nosp@m..tab.nosp@m.ony@a.nosp@m.ttx..nosp@m.tech

Member Function Documentation

◆ calculateDynamics()

template<uint32 N, uint32 O, uint32 D>

virtual int16 warpos::EkfDynamics< N, O, D >::calculateDynamics	(	floating_point	time,
		const std::array< floating_point, N > &	tar_state,
		const std::array< floating_point, O > &	obs_state,
		std::array< floating_point, N > &	tar_state_dot )

inlinevirtual

Function to calculate a state time derivative from current state of system.

Parameters

[in]	time	The reference time
[in]	tar_state	The target reference state
[in]	obs_state	The observer reference state
[out]	tar_state_dot	Implicit return of state time derivative based on time and state

Returns: Error return code, zero means no error

Note: Not implementing this will make the assumption that the state is stationary

◆ calculateDynamicsJacobian()

template<uint32 N, uint32 O, uint32 D>

virtual int16 warpos::EkfDynamics< N, O, D >::calculateDynamicsJacobian	(	floating_point	time,
		const std::array< floating_point, N > &	tar_state,
		const std::array< floating_point, O > &	obs_state,
		std::array< floating_point, N *N > &	dynamics_Jacobian )

inlinevirtual

Function to calculate the dynamics function Jacobian from current state of system.

Parameters

[in]	time	The reference time
[in]	tar_state	The target reference state
[in]	obs_state	The observer reference state
[out]	dynamics_Jacobian	Implicit return of the dynamics Jacobian w.r.t. the state vector, NOTE: the matrix is vectorized

Returns: Error return code, zero means no error

Note: Not implementing this will make the assumption that the dynamics are independent of the state

◆ calculateDynamicsNoiseMappingMatrix()

template<uint32 N, uint32 O, uint32 D>

virtual int16 warpos::EkfDynamics< N, O, D >::calculateDynamicsNoiseMappingMatrix	(	floating_point	time,
		const std::array< floating_point, N > &	tar_state,
		const std::array< floating_point, O > &	obs_state,
		std::array< floating_point, N *D > &	dynamics_mapping )

inlinevirtual

Function to calculate the matrix that maps the noise configuration space to the state configuration space.

Parameters

[in]	time	The reference time
[in]	tar_state	The target reference state
[in]	obs_state	The observer reference state
[out]	dynamics_mapping	Implicit return of the matrix (vectorized) that maps the noise space to the state space

Returns: Error return code, zero means no error

Note: Not implementing this will make the assumption that there is no noise

◆ calculateNoiseCovariance()

template<uint32 N, uint32 O, uint32 D>

virtual int16 warpos::EkfDynamics< N, O, D >::calculateNoiseCovariance	(	floating_point	time,
		const std::array< floating_point, N > &	tar_state,
		const std::array< floating_point, O > &	obs_state,
		std::array< floating_point, D *D > &	process_covariance )

inlinevirtual

Function to calculate the covariance matrix of a given process with a specific noise profile.

Parameters

[in]	time	The reference time
[in]	tar_state	The target reference state
[in]	obs_state	The observer reference state
[out]	process_covariance	Implicit return of the process noise covariance (vectorized)

Returns: Error return code, zero means no error

Note: Not implementing this will make the assumption that there is no noise

◆ calculateObserverDynamics()

template<uint32 N, uint32 O, uint32 D>

virtual int16 warpos::EkfDynamics< N, O, D >::calculateObserverDynamics	(	floating_point	time,
		const std::array< floating_point, N > &	tar_state,
		const std::array< floating_point, O > &	obs_state,
		std::array< floating_point, O > &	obs_state_dot )

inlinevirtual

Function to calculate the observer state vector time vector.

Parameters

[in]	time	The reference time
[in]	tar_state	The target reference state
[in]	obs_state	The observer reference state
[out]	obs_state_dot	Implicit return of observer time derivative based on time and state

Returns: Error return code, zero means no error

Note: Not implementing this will make the assumption that the observer is stationary

◆ calculateRates()

template<uint32 N, uint32 O, uint32 D>

int16 warpos::EkfDynamics< N, O, D >::calculateRates	(	floating_point	time,
		const std::array< floating_point, N+N *N+O > &	state,
		std::array< floating_point, N+N *N+O > &	out_rates )

inlineoverride

Function to calculate rates from current state of system.

Parameters

time	The reference time
state	The reference state ordered as state vector (N elements), state covariance (N x N elements), observer state (O elements)
out_rates	Implicit return of rates based on time, state

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

/Users/mickey/Documents/Projects/warptwin/warpos/src/gncutils/EKF/EkfDynamics.hpp

Public Member Functions

Detailed Description

Member Function Documentation

◆ calculateDynamics()

◆ calculateDynamicsJacobian()

◆ calculateDynamicsNoiseMappingMatrix()

◆ calculateNoiseCovariance()

◆ calculateObserverDynamics()

◆ calculateRates()