ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR > Struct Template Reference

Settings for setting up an UnscentedKF. More...

#include <FilterSettings.h>

Public Member Functions
	UnscentedKalmanFilterSettings ()
	default constructor More...
void	print () const
	print the current settings More...
void	load (const std::string &filename, bool verbose, const std::string &ns)
	load settings from file More...

Public Attributes
ct::core::StateVector< STATE_DIM >	x0
SCALAR	alpha
SCALAR	beta
SCALAR	kappa
ct::core::StateMatrix< STATE_DIM, SCALAR >	P0

Detailed Description

template<size_t STATE_DIM, typename SCALAR = double>
struct ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >

Settings for setting up an UnscentedKF.

The UnscentedKF settings are designed to make the initialization smoother and possible through a file configuration.

Constructor & Destructor Documentation

UnscentedKalmanFilterSettings()

template<size_t STATE_DIM, typename SCALAR = double>

ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::UnscentedKalmanFilterSettings ( )

inline

default constructor

Member Function Documentation

print()

template<size_t STATE_DIM, typename SCALAR = double>

void ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::print ( ) const

inline

print the current settings

load()

template<size_t STATE_DIM, typename SCALAR = double>

void ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::load ( const std::string &  filename, bool  verbose, const std::string &  ns  )

inline

load settings from file

References ct::core::loadMatrix(), and ct::optcon::StateObserverSettings< OUTPUT_DIM, STATE_DIM, SCALAR >::print().

Member Data Documentation

x0

template<size_t STATE_DIM, typename SCALAR = double>

ct::core::StateVector<STATE_DIM> ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::x0

Initial state estimate.

alpha

template<size_t STATE_DIM, typename SCALAR = double>

SCALAR ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::alpha

beta

template<size_t STATE_DIM, typename SCALAR = double>

SCALAR ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::beta

kappa

template<size_t STATE_DIM, typename SCALAR = double>

SCALAR ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::kappa

P0

template<size_t STATE_DIM, typename SCALAR = double>

ct::core::StateMatrix<STATE_DIM, SCALAR> ct::optcon::UnscentedKalmanFilterSettings< STATE_DIM, SCALAR >::P0

Initial covariance matrix.

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

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