#include <LinearModel.h>

Inheritance diagram for bfl::LinearModel:

Public Types
using	LinearMatrixComponent = std::pair< std::size_t, std::vector< std::size_t > >
	Pair of data representing. More...

Public Member Functions
	LinearModel (const LinearMatrixComponent &linear_matrix_component, const Eigen::Ref< const Eigen::MatrixXd > &noise_covariance_matrix, const unsigned int seed)

	LinearModel (const LinearMatrixComponent &linear_matrix_component, const Eigen::Ref< const Eigen::MatrixXd > &noise_covariance_matrix)

virtual	~LinearModel () 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
std::pair< bool, Eigen::MatrixXd >	getNoiseSample (const int num) const

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

virtual void	log ()

Protected Attributes
double	T_
	The Sampling interval in [time]. More...

Eigen::MatrixXd	sqrt_R_
	Square root matrix of R_. More...

std::function< double()>	gauss_rnd_sample_
	Random number generator function from a Normal distribution. More...

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::mt19937_64	generator_

std::normal_distribution< double >	distribution_

bool	log_enabled_ = false

std::ofstream	log_file_measurements_

std::string	folder_path_

std::string	file_name_prefix_

std::vector< std::string >	file_names_

std::vector< std::ofstream >	log_files_

Detailed Description

Definition at line 24 of file LinearModel.h.

Member Typedef Documentation

◆ LinearMatrixComponent

using bfl::LinearModel::LinearMatrixComponent = std::pair<std::size_t, std::vector<std::size_t> >

Pair of data representing.

first: the dimension of the state vector
second: the 0-based row number of the state vector that we want to measure.

Example: LinearMatrixComponent{4, {0, 2}} results in the following measurement matrix H = [ 1.0 0 0 0 ] [ 0 0 1.0 0 ]

Definition at line 37 of file LinearModel.h.

Constructor & Destructor Documentation

◆ LinearModel() [1/2]

bfl::LinearModel::LinearModel	(	const LinearMatrixComponent &	linear_matrix_component,
		const Eigen::Ref< const Eigen::MatrixXd > &	noise_covariance_matrix,
		const unsigned int	seed
	)

◆ LinearModel() [2/2]

bfl::LinearModel::LinearModel	(	const LinearMatrixComponent &	linear_matrix_component,
		const Eigen::Ref< const Eigen::MatrixXd > &	noise_covariance_matrix
	)

◆ ~LinearModel()

virtual bfl::LinearModel::~LinearModel ( )

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 LinearModel::getMeasurementMatrix ( ) const

overridevirtual

Implements bfl::LinearMeasurementModel.

Definition at line 69 of file LinearModel.cpp.

References bfl::LTIMeasurementModel::H_.

◆ getNoiseCovarianceMatrix()

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

overridevirtual

Reimplemented from bfl::MeasurementModel.

Definition at line 63 of file LinearModel.cpp.

References bfl::LTIMeasurementModel::R_.

◆ getNoiseSample()

std::pair< bool, MatrixXd > LinearModel::getNoiseSample ( const int num ) const

protected

Definition at line 51 of file LinearModel.cpp.

References gauss_rnd_sample_, and sqrt_R_.

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

◆ 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> bfl::LinearModel::log_file_names	(	const std::string &	folder_path,
		const std::string &	file_name_prefix
	)

inlineoverrideprotectedvirtual

Reimplemented from bfl::Logger.

Definition at line 69 of file LinearModel.h.

◆ 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

◆ distribution_

std::normal_distribution<double> bfl::LinearModel::distribution_

private

Definition at line 78 of file LinearModel.h.

◆ 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().

◆ gauss_rnd_sample_

std::function<double()> bfl::LinearModel::gauss_rnd_sample_

protected

Random number generator function from a Normal distribution.

A call to gauss_rnd_sample_() returns a doubleing point random number.

Definition at line 67 of file LinearModel.h.

Referenced by getNoiseSample().

◆ generator_

std::mt19937_64 bfl::LinearModel::generator_

private

Definition at line 76 of file LinearModel.h.

◆ H_

Eigen::MatrixXd bfl::LTIMeasurementModel::H_

protectedinherited

Measurement matrix.

Definition at line 39 of file LTIMeasurementModel.h.

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

◆ log_enabled_

bool bfl::LinearModel::log_enabled_ = false

private

Definition at line 80 of file LinearModel.h.

◆ log_file_measurements_

std::ofstream bfl::LinearModel::log_file_measurements_

mutableprivate

Definition at line 82 of file LinearModel.h.

◆ 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_

protectedinherited

Convariance matrix of the additive white noise of the measurements.

Definition at line 44 of file LTIMeasurementModel.h.

Referenced by getNoiseCovarianceMatrix().

◆ sqrt_R_

Eigen::MatrixXd bfl::LinearModel::sqrt_R_

protected

Square root matrix of R_.

Definition at line 61 of file LinearModel.h.

Referenced by getNoiseSample().

◆ T_

double bfl::LinearModel::T_

protected

The Sampling interval in [time].

Definition at line 56 of file LinearModel.h.

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

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

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ LinearMatrixComponent

Constructor & Destructor Documentation

◆ LinearModel() [1/2]

◆ LinearModel() [2/2]

◆ ~LinearModel()

Member Function Documentation

◆ disable_log()

◆ enable_log()

◆ freeze()

◆ get_file_name_prefix()

◆ get_folder_path()

◆ getInputDescription()

◆ getMeasurementDescription()

◆ getMeasurementMatrix()

◆ getNoiseCovarianceMatrix()

◆ getNoiseSample()

◆ 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

◆ distribution_

◆ file_name_prefix_

◆ file_names_

◆ folder_path_

◆ gauss_rnd_sample_

◆ generator_

◆ H_

◆ log_enabled_

◆ log_file_measurements_

◆ log_files_

◆ R_

◆ sqrt_R_

◆ T_