opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData Class Reference

List of all members.

Public Member Functions
void	deleteData ()
void	resizeData (int sdim, int zdim=0)
	UnscentedInfoFilterData ()
	~UnscentedInfoFilterData ()
Public Attributes
math::Vector *	assocVector
	Vector of associated measurements = valid for each sigma point.
math::Matrix *	chi
	State sigma points.
math::SquareMatrix *	covQ
	Matrix Q covariance (process noise).
math::Vector *	innov
	Measurement innovation.
math::Vector *	innov_ave
	Average of measurement innovations.
math::Vector *	invCovR
	Inverse of matrix R measurement noise NOTE: We already get invCovR from the measurements!
int	measDim
	dimensions of measurement and state
math::SquareMatrix *	pPostInfoMat
	Inverse error covariance O(k+1|k+1) = Information matrix.
math::Vector *	pPostInfoVec
	Information vector = O(k+1|k+1)*x(k+1|k+1).
math::SquareMatrix *	pPriorInfoMat
	Inverse error covariance O(k+1|k) = Information matrix.
math::Vector *	pPriorInfoVec
	Information vector = O(k+1|k)*x(k+1|k).
math::Matrix *	Psz
	Real measurement.
int	stateDim
math::Vector *	tmpVec
	temporary support matrices

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Constructor & Destructor Documentation

opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::UnscentedInfoFilterData

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opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::~UnscentedInfoFilterData

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Member Function Documentation

void opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::deleteData

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void opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::resizeData	(	int	sdim,
		int	zdim = 0
	)

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Member Data Documentation

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::assocVector

Vector of associated measurements = valid for each sigma point.

math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::chi

State sigma points.

math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::covQ

Matrix Q covariance (process noise).

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::innov

Measurement innovation.

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::innov_ave

Average of measurement innovations.

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::invCovR

Inverse of matrix R measurement noise NOTE: We already get invCovR from the measurements!

int opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::measDim

dimensions of measurement and state

math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPostInfoMat

Inverse error covariance O(k+1|k+1) = Information matrix.

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPostInfoVec

Information vector = O(k+1|k+1)*x(k+1|k+1).

math::SquareMatrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPriorInfoMat

Inverse error covariance O(k+1|k) = Information matrix.

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::pPriorInfoVec

Information vector = O(k+1|k)*x(k+1|k).

math::Matrix* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::Psz

Real measurement.

Predicted measurement Cross-covariance (state-measurement)

int opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::stateDim

math::Vector* opentl::tracker::UnscentedInfoFilter::UnscentedInfoFilter::UnscentedInfoFilterData::tmpVec

temporary support matrices