warpos::EkfTimeUpdate< N > Class Template Reference

Class to perform EKF time update step. More...

#include <EkfTimeUpdate.hpp>

Public Member Functions
	EkfTimeUpdate (Integrator< N+N *N > &integ)
int	runUpdate (floating_point time_prev, const std::array< floating_point, N > &state_prev, const clockwerk::Matrix< N, N > &cov_prev, floating_point time_up, std::array< floating_point, N > *state_up, clockwerk::Matrix< N, N > *cov_up)
	Function to run a single extended kalman filter time update step.

Public Attributes
clockwerk::Matrix< N, N >	Q
	Process noise matrix.

Detailed Description

template<uint32 N>
class warpos::EkfTimeUpdate< N >

Class to perform EKF time update step.

Constructor & Destructor Documentation

EkfTimeUpdate()

template<uint32 N>

warpos::EkfTimeUpdate< N >::EkfTimeUpdate ( Integrator< N+N *N > & integ )

inline

Member Function Documentation

runUpdate()

template<uint32 N>

int warpos::EkfTimeUpdate< N >::runUpdate	(	floating_point	time_prev,
		const std::array< floating_point, N > &	state_prev,
		const clockwerk::Matrix< N, N > &	cov_prev,
		floating_point	time_up,
		std::array< floating_point, N > *	state_up,
		clockwerk::Matrix< N, N > *	cov_up )

Function to run a single extended kalman filter time update step.

Parameters

time_prev	The time at which the previous state and covariance are known
state_prev	The previous state as an N element state vector
cov_prev	The previous covariance as an N*N matrix
time_up	The time to which the state and covariance will be propagated
state_up	The updated state at time time_up
cov_up	The updated covariance at time time_up

Returns

Error code corresponding to success/failure

Member Data Documentation

Q

template<uint32 N>

clockwerk::Matrix<N, N> warpos::EkfTimeUpdate< N >::Q

Process noise matrix.

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

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