25#include <yarp/sig/Vector.h>
26#include <yarp/sig/Matrix.h>
44 yarp::sig::Matrix
A,
At;
45 yarp::sig::Matrix
H,
Ht;
74 Kalman(
const yarp::sig::Matrix &_A,
const yarp::sig::Matrix &_H,
75 const yarp::sig::Matrix &_Q,
const yarp::sig::Matrix &_R);
86 Kalman(
const yarp::sig::Matrix &_A,
const yarp::sig::Matrix &_B,
87 const yarp::sig::Matrix &_H,
const yarp::sig::Matrix &_Q,
88 const yarp::sig::Matrix &_R);
97 bool init(
const yarp::sig::Vector &_x0,
const yarp::sig::Matrix &_P0);
106 const yarp::sig::Vector&
predict(
const yarp::sig::Vector &u);
113 const yarp::sig::Vector&
predict();
123 const yarp::sig::Vector&
correct(
const yarp::sig::Vector &
z);
135 const yarp::sig::Vector&
filt(
const yarp::sig::Vector &u,
const yarp::sig::Vector &
z);
146 const yarp::sig::Vector&
filt(
const yarp::sig::Vector &
z);
153 const yarp::sig::Vector&
get_x()
const {
return x; }
160 yarp::sig::Vector
get_y()
const;
167 const yarp::sig::Matrix&
get_P()
const {
return P; }
174 const yarp::sig::Matrix&
get_S()
const {
return S; }
190 const yarp::sig::Matrix&
get_K()
const {
return K; }
197 const yarp::sig::Matrix&
get_A()
const {
return A; }
204 const yarp::sig::Matrix&
get_B()
const {
return B; }
211 const yarp::sig::Matrix&
get_H()
const {
return H; }
218 const yarp::sig::Matrix&
get_Q()
const {
return Q; }
225 const yarp::sig::Matrix&
get_R()
const {
return R; }
233 bool set_A(
const yarp::sig::Matrix &_A);
241 bool set_B(
const yarp::sig::Matrix &_B);
249 bool set_H(
const yarp::sig::Matrix &_H);
257 bool set_Q(
const yarp::sig::Matrix &_Q);
265 bool set_R(
const yarp::sig::Matrix &_R);
Classic Kalman estimator.
Kalman(const yarp::sig::Matrix &_A, const yarp::sig::Matrix &_B, const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_Q, const yarp::sig::Matrix &_R)
Init a Kalman state estimator.
const yarp::sig::Matrix & get_Q() const
Returns the process noise covariance matrix.
bool set_Q(const yarp::sig::Matrix &_Q)
Returns the process noise covariance matrix.
bool set_R(const yarp::sig::Matrix &_R)
Returns the measurement noise covariance matrix.
const yarp::sig::Vector & filt(const yarp::sig::Vector &z)
Returns the estimated state vector given the current measurement by performing a prediction and then ...
const yarp::sig::Matrix & get_R() const
Returns the measurement noise covariance matrix.
const yarp::sig::Matrix & get_S() const
Returns the estimated measurement covariance.
bool init(const yarp::sig::Vector &_x0, const yarp::sig::Matrix &_P0)
Set initial state and error covariance.
const yarp::sig::Vector & get_x() const
Returns the estimated state.
const yarp::sig::Matrix & get_K() const
Returns the Kalman gain matrix.
bool set_A(const yarp::sig::Matrix &_A)
Returns the state transition matrix.
yarp::sig::Vector get_y() const
Returns the estimated output.
bool set_B(const yarp::sig::Matrix &_B)
Returns the input matrix.
double get_ValidationGate() const
Returns the validation gate.
const yarp::sig::Vector & predict()
Predicts the next state vector.
const yarp::sig::Vector & correct(const yarp::sig::Vector &z)
Corrects the current estimation of the state vector given the current measurement.
const yarp::sig::Matrix & get_B() const
Returns the input matrix.
const yarp::sig::Vector & filt(const yarp::sig::Vector &u, const yarp::sig::Vector &z)
Returns the estimated state vector given the current input and the current measurement by performing ...
const yarp::sig::Matrix & get_A() const
Returns the state transition matrix.
const yarp::sig::Matrix & get_H() const
Returns the measurement matrix.
bool set_H(const yarp::sig::Matrix &_H)
Returns the measurement transition matrix.
const yarp::sig::Vector & predict(const yarp::sig::Vector &u)
Predicts the next state vector given the current input.
Kalman(const yarp::sig::Matrix &_A, const yarp::sig::Matrix &_H, const yarp::sig::Matrix &_Q, const yarp::sig::Matrix &_R)
Init a Kalman state estimator.
const yarp::sig::Matrix & get_P() const
Returns the estimated state covariance.
This file contains the definition of unique IDs for the body parts and the skin parts of the robot.