This class represent an linear measurement model Hx + w, where H is a time-invariant measurement matrix, x is a state vector and w is random noise. More...

#include <LTIMeasurementModel.h>

Inheritance diagram for bfl::LTIMeasurementModel:

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Public Member Functions
	LTIMeasurementModel (const Eigen::Ref< const Eigen::MatrixXd > &measurement_matrix, const Eigen::Ref< const Eigen::MatrixXd > &noise_covariance_matrix)

virtual	~LTIMeasurementModel () noexcept=default

std::pair< bool, Eigen::MatrixXd >	getNoiseCovarianceMatrix () const override

Eigen::MatrixXd	getMeasurementMatrix () const override

virtual std::pair< bool, bfl::Data >	predictedMeasure (const Eigen::Ref< const Eigen::MatrixXd > &cur_states) const override

virtual std::pair< bool, bfl::Data >	innovation (const bfl::Data &predicted_measurements, const bfl::Data &measurements) const override

virtual bool	freeze (const Data &data=Data())=0

virtual std::pair< bool, Data >	measure (const Data &data=Data()) const =0

virtual bool	setProperty (const std::string &property)

virtual VectorDescription	getInputDescription () const

virtual VectorDescription	getMeasurementDescription () const

bool	enable_log (const std::string &folder_path, const std::string &file_name_prefix)

bool	disable_log ()

std::string	get_folder_path () const

std::string	get_file_name_prefix () const

template<typename DatumType >
void	logger (DatumType datum)

template<typename... DataType>
void	logger (DataType... data)

template<typename DatumType >
void	logger (DatumType datum) const

template<typename... DataType>
void	logger (DataType... data) const

Protected Member Functions
virtual std::vector< std::string >	log_file_names (const std::string &folder_path, const std::string &file_name_prefix)

virtual void	log ()

Protected Attributes
Eigen::MatrixXd	H_
	Measurement matrix. More...

Eigen::MatrixXd	R_
	Convariance matrix of the additive white noise of the measurements. More...

Private Member Functions
template<typename DatumType >
void	logger_helper (const size_t pos, DatumType datum)

template<typename DatumType , typename... DataType>
void	logger_helper (const size_t pos, DatumType datum, DataType... data)

template<typename DatumType >
void	logger_helper (const size_t pos, DatumType datum) const

template<typename DatumType , typename... DataType>
void	logger_helper (const size_t pos, DatumType datum, DataType... data) const

Private Attributes
std::string	folder_path_

std::string	file_name_prefix_

std::vector< std::string >	file_names_

bool	log_enabled_ = false

std::vector< std::ofstream >	log_files_

Detailed Description

This class represent an linear measurement model Hx + w, where H is a time-invariant measurement matrix, x is a state vector and w is random noise.

Definition at line 23 of file LTIMeasurementModel.h.

Constructor & Destructor Documentation

◆ LTIMeasurementModel()

LTIMeasurementModel::LTIMeasurementModel	(	const Eigen::Ref< const Eigen::MatrixXd > &	measurement_matrix,
		const Eigen::Ref< const Eigen::MatrixXd > &	noise_covariance_matrix
	)

Definition at line 16 of file LTIMeasurementModel.cpp.

◆ ~LTIMeasurementModel()

virtual bfl::LTIMeasurementModel::~LTIMeasurementModel ( )

virtualdefaultnoexcept

Member Function Documentation

◆ disable_log()

bool Logger::disable_log ( )

inherited

Definition at line 68 of file Logger.cpp.

References bfl::Logger::file_names_, bfl::Logger::log_enabled_, and bfl::Logger::log_files_.

Referenced by bfl::Logger::~Logger().

◆ enable_log()

bool Logger::enable_log	(	const std::string &	folder_path,
		const std::string &	file_name_prefix
	)

inherited

Definition at line 22 of file Logger.cpp.

References bfl::Logger::file_name_prefix_, bfl::Logger::file_names_, bfl::Logger::folder_path_, bfl::Logger::log_enabled_, bfl::Logger::log_file_names(), and bfl::Logger::log_files_.

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◆ freeze()

virtual bool bfl::MeasurementModel::freeze ( const Data & data = Data() )

pure virtualinherited

Implemented in bfl::MeasurementModelDecorator, and bfl::SimulatedLinearSensor.

◆ get_file_name_prefix()

std::string Logger::get_file_name_prefix ( ) const

inherited

Definition at line 91 of file Logger.cpp.

References bfl::Logger::file_name_prefix_.

◆ get_folder_path()

std::string Logger::get_folder_path ( ) const

inherited

Definition at line 85 of file Logger.cpp.

References bfl::Logger::folder_path_.

◆ getInputDescription()

VectorDescription MeasurementModel::getInputDescription ( ) const

virtualinherited

Reimplemented in bfl::SimulatedLinearSensor.

Definition at line 30 of file MeasurementModel.cpp.

◆ getMeasurementDescription()

VectorDescription MeasurementModel::getMeasurementDescription ( ) const

virtualinherited

Reimplemented in bfl::SimulatedLinearSensor.

Definition at line 37 of file MeasurementModel.cpp.

Referenced by bfl::UKFCorrection::correctStep(), and bfl::sigma_point::unscented_transform().

◆ getMeasurementMatrix()

Eigen::MatrixXd LTIMeasurementModel::getMeasurementMatrix ( ) const

overridevirtual

Implements bfl::LinearMeasurementModel.

Definition at line 38 of file LTIMeasurementModel.cpp.

◆ getNoiseCovarianceMatrix()

std::pair< bool, Eigen::MatrixXd > LTIMeasurementModel::getNoiseCovarianceMatrix ( ) const

overridevirtual

Reimplemented from bfl::MeasurementModel.

Definition at line 32 of file LTIMeasurementModel.cpp.

◆ innovation()

std::pair< bool, bfl::Data > LinearMeasurementModel::innovation	(	const bfl::Data &	predicted_measurements,
		const bfl::Data &	measurements
	)		const

overridevirtualinherited

Implements bfl::MeasurementModel.

Definition at line 24 of file LinearMeasurementModel.cpp.

◆ log()

void Logger::log ( )

protectedvirtualinherited

Reimplemented in bfl::SimulatedStateModel, bfl::SIS, and bfl::SimulatedLinearSensor.

Definition at line 109 of file Logger.cpp.

◆ log_file_names()

std::vector< std::string > Logger::log_file_names	(	const std::string &	folder_path,
		const std::string &	file_name_prefix
	)

protectedvirtualinherited

Reimplemented in bfl::LinearModel, bfl::SimulatedStateModel, and bfl::SIS.

Definition at line 97 of file Logger.cpp.

Referenced by bfl::Logger::enable_log().

◆ logger() [1/4]

template<typename... DataType>

void bfl::Logger::logger ( DataType... data )

inlineinherited

Definition at line 42 of file Logger.h.

References bfl::Logger::log_enabled_, and bfl::Logger::logger_helper().

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◆ logger() [2/4]

template<typename... DataType>

void bfl::Logger::logger ( DataType... data ) const

inlineinherited

Definition at line 56 of file Logger.h.

References bfl::Logger::log_enabled_, and bfl::Logger::logger_helper().

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◆ logger() [3/4]

template<typename DatumType >

void bfl::Logger::logger ( DatumType datum )

inlineinherited

Definition at line 35 of file Logger.h.

References bfl::Logger::log_enabled_, and bfl::Logger::log_files_.

Referenced by bfl::SimulatedLinearSensor::log().

◆ logger() [4/4]

template<typename DatumType >

void bfl::Logger::logger ( DatumType datum ) const

inlineinherited

Definition at line 49 of file Logger.h.

References bfl::Logger::log_enabled_, and bfl::Logger::log_files_.

◆ logger_helper() [1/4]

template<typename DatumType >

void bfl::Logger::logger_helper	(	const size_t	pos,
		DatumType	datum
	)

inlineprivateinherited

Definition at line 81 of file Logger.h.

References bfl::Logger::log_files_.

Referenced by bfl::Logger::logger(), and bfl::Logger::logger_helper().

◆ logger_helper() [2/4]

template<typename DatumType >

void bfl::Logger::logger_helper	(	const size_t	pos,
		DatumType	datum
	)		const

inlineprivateinherited

Definition at line 95 of file Logger.h.

References bfl::Logger::log_files_.

◆ logger_helper() [3/4]

template<typename DatumType , typename... DataType>

void bfl::Logger::logger_helper	(	const size_t	pos,
		DatumType	datum,
		DataType...	data
	)

inlineprivateinherited

Definition at line 87 of file Logger.h.

References bfl::Logger::log_files_, and bfl::Logger::logger_helper().

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◆ logger_helper() [4/4]

template<typename DatumType , typename... DataType>

void bfl::Logger::logger_helper	(	const size_t	pos,
		DatumType	datum,
		DataType...	data
	)		const

inlineprivateinherited

Definition at line 101 of file Logger.h.

References bfl::Logger::log_files_, and bfl::Logger::logger_helper().

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◆ measure()

virtual std::pair<bool, Data> bfl::MeasurementModel::measure ( const Data & data = Data() ) const

pure virtualinherited

Implemented in bfl::SimulatedLinearSensor, and bfl::MeasurementModelDecorator.

Referenced by bfl::UKFCorrection::correctStep(), and bfl::GaussianLikelihood::likelihood().

◆ predictedMeasure()

std::pair< bool, bfl::Data > LinearMeasurementModel::predictedMeasure ( const Eigen::Ref< const Eigen::MatrixXd > & cur_states ) const

overridevirtualinherited

Implements bfl::MeasurementModel.

Definition at line 16 of file LinearMeasurementModel.cpp.

◆ setProperty()

bool MeasurementModel::setProperty ( const std::string & property )

virtualinherited

Reimplemented in bfl::MeasurementModelDecorator.

Definition at line 22 of file MeasurementModel.cpp.

Member Data Documentation

◆ file_name_prefix_

std::string bfl::Logger::file_name_prefix_

privateinherited

Definition at line 72 of file Logger.h.

Referenced by bfl::Logger::enable_log(), and bfl::Logger::get_file_name_prefix().

◆ file_names_

std::vector<std::string> bfl::Logger::file_names_

privateinherited

Definition at line 74 of file Logger.h.

Referenced by bfl::Logger::disable_log(), and bfl::Logger::enable_log().

◆ folder_path_

std::string bfl::Logger::folder_path_

privateinherited

Definition at line 70 of file Logger.h.

Referenced by bfl::Logger::enable_log(), and bfl::Logger::get_folder_path().

◆ H_

Eigen::MatrixXd bfl::LTIMeasurementModel::H_

protected

Measurement matrix.

Definition at line 39 of file LTIMeasurementModel.h.

Referenced by bfl::SimulatedLinearSensor::freeze(), and bfl::LinearModel::getMeasurementMatrix().

◆ log_enabled_

bool bfl::Logger::log_enabled_ = false

privateinherited

Definition at line 76 of file Logger.h.

Referenced by bfl::Logger::disable_log(), bfl::Logger::enable_log(), bfl::Logger::logger(), and bfl::Logger::~Logger().

◆ log_files_

std::vector<std::ofstream> bfl::Logger::log_files_

mutableprivateinherited

Definition at line 78 of file Logger.h.

Referenced by bfl::Logger::disable_log(), bfl::Logger::enable_log(), bfl::Logger::logger(), and bfl::Logger::logger_helper().

◆ R_

Eigen::MatrixXd bfl::LTIMeasurementModel::R_

protected

Convariance matrix of the additive white noise of the measurements.

Definition at line 44 of file LTIMeasurementModel.h.

Referenced by bfl::LinearModel::getNoiseCovarianceMatrix().

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

/home/user/bayes-filters-lib/src/BayesFilters/include/BayesFilters/LTIMeasurementModel.h
/home/user/bayes-filters-lib/src/BayesFilters/src/LTIMeasurementModel.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ LTIMeasurementModel()

◆ ~LTIMeasurementModel()

Member Function Documentation

◆ disable_log()

◆ enable_log()

◆ freeze()

◆ get_file_name_prefix()

◆ get_folder_path()

◆ getInputDescription()

◆ getMeasurementDescription()

◆ getMeasurementMatrix()

◆ getNoiseCovarianceMatrix()

◆ innovation()

◆ log()

◆ log_file_names()

◆ logger() [1/4]

◆ logger() [2/4]

◆ logger() [3/4]

◆ logger() [4/4]

◆ logger_helper() [1/4]

◆ logger_helper() [2/4]

◆ logger_helper() [3/4]

◆ logger_helper() [4/4]

◆ measure()

◆ predictedMeasure()

◆ setProperty()

Member Data Documentation

◆ file_name_prefix_

◆ file_names_

◆ folder_path_

◆ H_

◆ log_enabled_

◆ log_files_

◆ R_