bfl::sigma_point Namespace Reference

Classes
struct	UTWeight

Typedefs
using	FunctionEvaluation = std::function< std::tuple< bool, bfl::Data, bfl::VectorDescription >(const Eigen::Ref< const Eigen::MatrixXd > &)>
	A FunctionEvaluation return. More...

Functions
void	unscented_weights (const std::size_t n, const double alpha, const double beta, const double kappa, Eigen::Ref< Eigen::VectorXd > weight_mean, Eigen::Ref< Eigen::VectorXd > weight_covariance, double &c)
Eigen::MatrixXd	sigma_point (const GaussianMixture &state, const double c)
std::tuple< bool, GaussianMixture, Eigen::MatrixXd >	unscented_transform (const GaussianMixture &input, const UTWeight &weight, FunctionEvaluation function)
std::pair< GaussianMixture, Eigen::MatrixXd >	unscented_transform (const GaussianMixture &state, const UTWeight &weight, StateModel &state_model)
std::pair< GaussianMixture, Eigen::MatrixXd >	unscented_transform (const GaussianMixture &state, const UTWeight &weight, AdditiveStateModel &state_model)
std::tuple< bool, GaussianMixture, Eigen::MatrixXd >	unscented_transform (const GaussianMixture &state, const UTWeight &weight, MeasurementModel &meas_model)
std::tuple< bool, GaussianMixture, Eigen::MatrixXd >	unscented_transform (const GaussianMixture &state, const UTWeight &weight, AdditiveMeasurementModel &meas_model)

Typedef Documentation

FunctionEvaluation

using bfl::sigma_point::FunctionEvaluation = typedef std::function<std::tuple<bool, bfl::Data, bfl::VectorDescription>(const Eigen::Ref<const Eigen::MatrixXd>&)>

A FunctionEvaluation return.

• a boolean indicating if the evaluation was successful
• the output data in the form of bfl::Data
• the description of the output in the form of bfl::VectorDescription

Definition at line 35 of file sigma_point.h.

Function Documentation

sigma_point()

MatrixXd bfl::sigma_point::sigma_point	(	const GaussianMixture &	state,
		const double	c
	)

Definition at line 84 of file sigma_point.cpp.

References bfl::GaussianMixture::components, bfl::GaussianMixture::covariance(), bfl::GaussianMixture::dim, bfl::GaussianMixture::dim_circular, bfl::GaussianMixture::dim_covariance, bfl::GaussianMixture::dim_linear, bfl::GaussianMixture::dim_noise, bfl::directional_statistics::directional_add(), bfl::GaussianMixture::mean(), bfl::utils::sum_quaternion_rotation_vector(), and bfl::GaussianMixture::use_quaternion.

Referenced by bfl::SUKFCorrection::correctStep(), and unscented_transform().

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unscented_transform() [1/5]

std::tuple< bool, GaussianMixture, MatrixXd > bfl::sigma_point::unscented_transform	(	const GaussianMixture &	input,
		const UTWeight &	weight,
		FunctionEvaluation	function
	)

Definition at line 126 of file sigma_point.cpp.

References bfl::sigma_point::UTWeight::c, bfl::VectorDescription::circular_components(), bfl::VectorDescription::circular_type, bfl::GaussianMixture::components, bfl::sigma_point::UTWeight::covariance, bfl::GaussianMixture::covariance(), bfl::utils::diff_quaternion(), bfl::GaussianMixture::dim_circular, bfl::GaussianMixture::dim_covariance, bfl::GaussianMixture::dim_linear, bfl::GaussianMixture::dim_noise, bfl::directional_statistics::directional_mean(), bfl::directional_statistics::directional_sub(), bfl::VectorDescription::linear_components(), bfl::GaussianMixture::mean(), bfl::sigma_point::UTWeight::mean, bfl::utils::mean_quaternion(), bfl::VectorDescription::Quaternion, sigma_point(), and bfl::GaussianMixture::use_quaternion.

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

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unscented_transform() [2/5]

std::tuple< bool, GaussianMixture, MatrixXd > bfl::sigma_point::unscented_transform	(	const GaussianMixture &	state,
		const UTWeight &	weight,
		AdditiveMeasurementModel &	meas_model
	)

Definition at line 285 of file sigma_point.cpp.

References bfl::GaussianMixture::components, bfl::GaussianMixture::covariance(), bfl::MeasurementModel::getMeasurementDescription(), bfl::MeasurementModel::getNoiseCovarianceMatrix(), bfl::MeasurementModel::predictedMeasure(), and unscented_transform().

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unscented_transform() [3/5]

std::pair< GaussianMixture, MatrixXd > bfl::sigma_point::unscented_transform	(	const GaussianMixture &	state,
		const UTWeight &	weight,
		AdditiveStateModel &	state_model
	)

Definition at line 230 of file sigma_point.cpp.

References bfl::GaussianMixture::components, bfl::GaussianMixture::covariance(), bfl::StateModel::getNoiseCovarianceMatrix(), bfl::StateProcess::getStateDescription(), bfl::StateProcess::propagate(), and unscented_transform().

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unscented_transform() [4/5]

std::tuple< bool, GaussianMixture, MatrixXd > bfl::sigma_point::unscented_transform	(	const GaussianMixture &	state,
		const UTWeight &	weight,
		MeasurementModel &	meas_model
	)

Definition at line 259 of file sigma_point.cpp.

References bfl::MeasurementModel::getMeasurementDescription(), bfl::MeasurementModel::predictedMeasure(), and unscented_transform().

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unscented_transform() [5/5]

std::pair< GaussianMixture, MatrixXd > bfl::sigma_point::unscented_transform	(	const GaussianMixture &	state,
		const UTWeight &	weight,
		StateModel &	state_model
	)

Definition at line 207 of file sigma_point.cpp.

References bfl::StateProcess::getStateDescription(), bfl::StateProcess::motion(), bfl::VectorDescription::total_size(), and unscented_transform().

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unscented_weights()

void bfl::sigma_point::unscented_weights	(	const std::size_t	n,
		const double	alpha,
		const double	beta,
		const double	kappa,
		Eigen::Ref< Eigen::VectorXd >	weight_mean,
		Eigen::Ref< Eigen::VectorXd >	weight_covariance,
		double &	c
	)

Referenced by bfl::sigma_point::UTWeight::UTWeight().