WarpTwin
Documentation for WarpTwin models and classes.
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kalman_takasu.h
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1
7
8/******************************************************************************
9 * SYSTEM INCLUDE FILES
10 ******************************************************************************/
11
12/******************************************************************************
13 * PROJECT INCLUDE FILES
14 ******************************************************************************/
15#include "types.h"
16
17/******************************************************************************
18 * DEFINES
19 ******************************************************************************/
20
21/******************************************************************************
22 * TYPEDEFS
23 ******************************************************************************/
24
25/******************************************************************************
26 * LOCAL DATA DEFINITIONS
27 ******************************************************************************/
28
29/******************************************************************************
30 * LOCAL FUNCTION PROTOTYPES
31 ******************************************************************************/
32
33/******************************************************************************
34 * FUNCTION PROTOTYPES
35 ******************************************************************************/
36#ifndef GNCUTILS_EKF_KFCORE_KALMAN_TAKASU_H
37#define GNCUTILS_EKF_KFCORE_KALMAN_TAKASU_H
38
39namespace warpos {
40
79 int kalman_takasu(floating_point* x, floating_point* P, const floating_point* dz, const floating_point* R,
80 const floating_point* Ht, int n, int m,
81 floating_point chi2_threshold, floating_point* chi2);
82
102 void kalman_predict(floating_point* x, floating_point* P, const floating_point* Phi,
103 const floating_point* G, const floating_point* Q, int n, int r);
104
105}
106#endif
warpos
Definition DeadReckon.cpp:20
warpos::kalman_takasu
int kalman_takasu(floating_point *x, floating_point *P, const floating_point *dz, const floating_point *R, const floating_point *Ht, int n, int m, floating_point chi2_threshold, floating_point *chi2)
Kalman Filter Routine (Takasu Formulation).
Definition kalman_takasu.cpp:52
warpos::kalman_predict
void kalman_predict(floating_point *x, floating_point *P, const floating_point *Phi, const floating_point *G, const floating_point *Q, int n, int r)
Kalman Temporal / Prediction Step.
Definition kalman_takasu.cpp:136