Kalman Filter class representing the kalman model and state updates. In practice, upto only 3 dimentional state vector is usable before hitting hardware limitation. More...
Data Fields | |
| Matrix | X |
| Matrix | A |
| Matrix | B |
| Matrix | H |
| Matrix | Q |
| Matrix | R |
| Matrix | P |
| Matrix | K |
| long | Ks |
| bool | unityModel |
Detailed Description
Kalman Filter class representing the kalman model and state updates. In practice, upto only 3 dimentional state vector is usable before hitting hardware limitation.
Definition at line 43 of file KalmanFilter.nxc.
Field Documentation
| Matrix KalmanFilter::A |
State transformation model for state transition
Definition at line 46 of file KalmanFilter.nxc.
Referenced by KalmanFilterInit(), and KalmanFilterStep().
| Matrix KalmanFilter::B |
Control input transformation for state transition
Definition at line 47 of file KalmanFilter.nxc.
Referenced by KalmanFilterInit(), and KalmanFilterStep().
| Matrix KalmanFilter::H |
State observation model transformation
Definition at line 48 of file KalmanFilter.nxc.
Referenced by KalmanFilterInit(), and KalmanFilterStep().
| Matrix KalmanFilter::K |
Kalman Gain. It is scaled by Ks for integer operations
Definition at line 52 of file KalmanFilter.nxc.
Referenced by KalmanFilterStep().
| long KalmanFilter::Ks |
Kalman gain scale factor
Definition at line 53 of file KalmanFilter.nxc.
Referenced by KalmanFilterStep().
| Matrix KalmanFilter::P |
Estimated state error covariance (i.e. accuracy of the estimation
Definition at line 51 of file KalmanFilter.nxc.
Referenced by KalmanFilterGetP(), KalmanFilterInit(), KalmanFilterInitUnity(), and KalmanFilterStep().
| Matrix KalmanFilter::Q |
State transition noise covariance matrix
Definition at line 49 of file KalmanFilter.nxc.
Referenced by KalmanFilterInit(), KalmanFilterInitUnity(), and KalmanFilterStep().
| Matrix KalmanFilter::R |
Observation noise covariance matrix
Definition at line 50 of file KalmanFilter.nxc.
Referenced by KalmanFilterInit(), KalmanFilterInitUnity(), and KalmanFilterStep().
| bool KalmanFilter::unityModel |
Is the filter working in unity mode. i.e. if A = B = H = 1
Definition at line 54 of file KalmanFilter.nxc.
Referenced by KalmanFilterInit(), KalmanFilterInitUnity(), and KalmanFilterStep().
| Matrix KalmanFilter::X |
Current estimated system state
Definition at line 45 of file KalmanFilter.nxc.
Referenced by KalmanFilterGetX(), KalmanFilterInit(), KalmanFilterInitUnity(), and KalmanFilterStep().
The documentation for this struct was generated from the following file: