ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR > Class Template Reference

Linear Time-Invariant measurement model is simply a linear measurement model for which the matrix C is constant in time. More...

#include <LTIMeasurementModel.h>

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

Public Types
using	Base = LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >
using	output_matrix_t = ct::core::OutputMatrix< OUTPUT_DIM, SCALAR >
using	output_state_matrix_t = ct::core::OutputStateMatrix< OUTPUT_DIM, STATE_DIM, SCALAR >
using	output_vector_t = ct::core::OutputVector< OUTPUT_DIM, SCALAR >
using	state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >
using	Time_t = ct::core::Time
Public Types inherited from ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >
using	Base = MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >
using	output_matrix_t = ct::core::OutputMatrix< OUTPUT_DIM, SCALAR >
using	output_state_matrix_t = ct::core::OutputStateMatrix< OUTPUT_DIM, STATE_DIM, SCALAR >
using	state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >
using	output_vector_t = ct::core::OutputVector< OUTPUT_DIM, SCALAR >
using	Time_t = ct::core::Time
Public Types inherited from ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >
using	state_vector_t = ct::core::StateVector< STATE_DIM, SCALAR >
using	output_vector_t = ct::core::OutputVector< OUTPUT_DIM, SCALAR >
using	Time_t = ct::core::Time

Public Member Functions
	LTIMeasurementModel ()
	Default constructor. More...
	LTIMeasurementModel (const output_state_matrix_t &C, const output_matrix_t &dHdw=output_matrix_t::Zero())
	Constructor. More...
output_vector_t	computeMeasurement (const state_vector_t &state, const Time_t &t=0) override
	Calculates the measurement from the current state. More...
output_state_matrix_t	computeDerivativeState (const state_vector_t &state, const Time_t &t) override
	Returns matrix C. More...
output_matrix_t	computeDerivativeNoise (const state_vector_t &state, const Time_t &t) override
	Returns the constant dHdw. More...
Public Member Functions inherited from ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >
virtual	~MeasurementModelBase ()
virtual ct::core::OutputVector< OUTPUT_DIM, SCALAR >	computeMeasurement (const ct::core::StateVector< STATE_DIM, SCALAR > &state, const ct::core::Time &t=0)=0

Protected Attributes
output_state_matrix_t	dHdx_
output_matrix_t	dHdw_
	Matrix C. More...

Detailed Description

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

Linear Time-Invariant measurement model is simply a linear measurement model for which the matrix C is constant in time.

Template Parameters

STATE_DIM	nominal state dimensionality
DIST_DIM	dimensionality of the disturbance
CONTROL_DIM

Examples:

KalmanDisturbanceFiltering.cpp, and KalmanFiltering.cpp.

Member Typedef Documentation

Base

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

using ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::Base = LinearMeasurementModel<OUTPUT_DIM, STATE_DIM, SCALAR>

output_matrix_t

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

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

output_state_matrix_t

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

using ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::output_state_matrix_t = ct::core::OutputStateMatrix<OUTPUT_DIM, STATE_DIM, SCALAR>

output_vector_t

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

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

state_vector_t

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

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

Time_t

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

using ct::optcon::MeasurementModelBase< OUTPUT_DIM, STATE_DIM, SCALAR >::Time_t = ct::core::Time

Constructor & Destructor Documentation

LTIMeasurementModel() [1/2]

template<size_t OUTPUT_DIM, size_t STATE_DIM, typename SCALAR >

ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::LTIMeasurementModel

(

)

Default constructor.

LTIMeasurementModel() [2/2]

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

ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::LTIMeasurementModel	(	const output_state_matrix_t &	C,
		const output_matrix_t &	dHdw = output_matrix_t::Zero()
	)

Constructor.

Member Function Documentation

computeMeasurement()

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

LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::output_vector_t ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::computeMeasurement ( const state_vector_t &  state, const Time_t &  t = 0  )

overridevirtual

Calculates the measurement from the current state.

Implements ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >.

computeDerivativeState()

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

LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::output_state_matrix_t ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::computeDerivativeState ( const state_vector_t &  state, const Time_t &  t  )

overridevirtual

Returns matrix C.

Implements ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >.

computeDerivativeNoise()

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

LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::output_matrix_t ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::computeDerivativeNoise ( const state_vector_t &  state, const Time_t &  t  )

overridevirtual

Returns the constant dHdw.

Implements ct::optcon::LinearMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >.

Member Data Documentation

dHdx_

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

output_state_matrix_t ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::dHdx_

protected

dHdw_

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

output_matrix_t ct::optcon::LTIMeasurementModel< OUTPUT_DIM, STATE_DIM, SCALAR >::dHdw_

protected

Matrix C.

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/filter/LTIMeasurementModel.h
• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_optcon/include/ct/optcon/filter/LTIMeasurementModel-impl.h