Estimator base. More...

#include <EstimatorBase.h>

Inheritance diagram for ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >:

Public Types
using	control_vector_t = ct::core::ControlVector< CONTROL_DIM, SCALAR >

using	state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >

using	state_matrix_t = ct::core::StateMatrix< STATE_DIM, SCALAR >

using	output_vector_t = ct::core::OutputVector< OUTPUT_DIM, SCALAR >

using	output_matrix_t = ct::core::OutputMatrix< OUTPUT_DIM, SCALAR >

Public Member Functions
	EstimatorBase (std::shared_ptr< SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >> f, std::shared_ptr< LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >> h, const state_vector_t &x0=state_vector_t::Zero())
	Constructor. More...

	EstimatorBase (const EstimatorBase &arg)
	Copy constructor. More...

virtual	~EstimatorBase ()=default

virtual const state_vector_t &	predict (const control_vector_t &u, const ct::core::Time &dt, const ct::core::Time &t)=0
	Estimator predict method. More...

virtual const state_vector_t &	update (const output_vector_t &y, const ct::core::Time &dt, const ct::core::Time &t)=0
	Estimator update method. More...

void	setSystemModel (std::shared_ptr< SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >> f)
	update the system model More...

void	setMeasurementModel (std::shared_ptr< LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >> h)
	update the measurement model More...

const state_vector_t &	getEstimate () const
	Estimate getter. More...

void	setEstimate (const state_vector_t &x)
	Estimate setter. More...

Protected Attributes
std::shared_ptr< SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR > >	f_
	System model for propagating the system. More...

std::shared_ptr< LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR > >	h_
	Observation model used to calculate the output error. More...

state_vector_t	x_est_
	State estimate. More...

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>
class ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >

Estimator base.

Member Typedef Documentation

◆ control_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

using ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::control_vector_t = ct::core::ControlVector<CONTROL_DIM, SCALAR>

◆ state_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

using ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::state_vector_t = ct::core::StateVector<STATE_DIM, SCALAR>

◆ state_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

using ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::state_matrix_t = ct::core::StateMatrix<STATE_DIM, SCALAR>

◆ output_vector_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

using ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::output_vector_t = ct::core::OutputVector<OUTPUT_DIM, SCALAR>

◆ output_matrix_t

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

using ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::output_matrix_t = ct::core::OutputMatrix<OUTPUT_DIM, SCALAR>

Constructor & Destructor Documentation

◆ EstimatorBase() [1/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase	(	std::shared_ptr< SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >>	f,
		std::shared_ptr< LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >>	h,
		const state_vector_t &	x0 = `state_vector_t::Zero()`
	)

inline

Constructor.

◆ EstimatorBase() [2/2]

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase ( const EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR > & arg )

inline

Copy constructor.

References dt, ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), t, u, ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update(), and ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::~EstimatorBase().

◆ ~EstimatorBase()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

virtual ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::~EstimatorBase ( )

virtualdefault

Referenced by ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase().

Member Function Documentation

◆ predict()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

virtual const state_vector_t& ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict	(	const control_vector_t &	u,
		const ct::core::Time &	dt,
		const ct::core::Time &	t
	)

pure virtual

Estimator predict method.

Implemented in ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >, ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >, and ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >.

Referenced by ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase().

◆ update()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

virtual const state_vector_t& ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update	(	const output_vector_t &	y,
		const ct::core::Time &	dt,
		const ct::core::Time &	t
	)

pure virtual

Estimator update method.

Implemented in ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >, ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >, and ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >.

Referenced by ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::EstimatorBase().

◆ setSystemModel()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

void ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::setSystemModel ( std::shared_ptr< SystemModelBase< STATE_DIM, CONTROL_DIM, SCALAR >> f )

inline

update the system model

References ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::f_.

◆ setMeasurementModel()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

void ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::setMeasurementModel ( std::shared_ptr< LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >> h )

inline

update the measurement model

References ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::h_.

◆ getEstimate()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

const state_vector_t& ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::getEstimate ( ) const

inline

Estimate getter.

References ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::x_est_.

◆ setEstimate()

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

void ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::setEstimate ( const state_vector_t & x )

inline

Estimate setter.

References x, and ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::x_est_.

Member Data Documentation

◆ f_

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

std::shared_ptr<SystemModelBase<STATE_DIM, CONTROL_DIM, SCALAR> > ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::f_

protected

System model for propagating the system.

Referenced by ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointTransition(), ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::predict(), and ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::setSystemModel().

◆ h_

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

std::shared_ptr<LinearMeasurementModel<OUTPUT_DIM, STATE_DIM, SCALAR> > ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::h_

protected

Observation model used to calculate the output error.

Referenced by ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::computeSigmaPointMeasurements(), ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::setMeasurementModel(), ct::optcon::ExtendedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update(), ct::optcon::SteadyStateKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update(), and ct::optcon::UnscentedKalmanFilter< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::update().

◆ x_est_

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>

state_vector_t ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >::x_est_

protected

State estimate.

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

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/filter/EstimatorBase.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double> class ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >

Member Typedef Documentation

◆ control_vector_t

◆ state_vector_t

◆ state_matrix_t

◆ output_vector_t

◆ output_matrix_t

Constructor & Destructor Documentation

◆ EstimatorBase() [1/2]

◆ EstimatorBase() [2/2]

◆ ~EstimatorBase()

Member Function Documentation

◆ predict()

◆ update()

◆ setSystemModel()

◆ setMeasurementModel()

◆ getEstimate()

◆ setEstimate()

Member Data Documentation

◆ f_

◆ h_

◆ x_est_

template<size_t STATE_DIM, size_t CONTROL_DIM, size_t OUTPUT_DIM, typename SCALAR = double>
class ct::optcon::EstimatorBase< STATE_DIM, CONTROL_DIM, OUTPUT_DIM, SCALAR >