Class UnscentedKalmanFilter

Defined in File ukf.hpp

Class Documentation

class UnscentedKalmanFilter

Public Functions

UnscentedKalmanFilter(const double &sigma_k, const double &sigma_alpha, const double &sigma_beta, const std::vector<double> &initial_state, const std::vector<double> &initial_state_covariance_diag_, const std::vector<double> &process_noise_covariance_diag_, const std::vector<double> &measurement_noise_covariance_diag_): Construct a new Ukf object.

void model_update(arma::vec &future_state, const arma::vec &state, const arma::vec &model_inputs, const double &dt) const

void measurement_model(arma::vec &measurement_prediction, const arma::vec &state) const

void prediction_step(const arma::vec &model_inputs, const double &dt)

void correction_step(const arma::vec &measurement)

void update_odometry_message(nav_msgs::msg::Odometry &odom, geometry_msgs::msg::PoseStamped &pose)

inline void return_state(arma::vec &state) const

inline void return_state_covariance(arma::mat &state_covariance) const

inline void set_state(const arma::vec &state)

inline void set_state_covariance(const arma::mat &state_covariance)