The base class for observers. The observer is destinated to any dynamical system with a vector state representation. This class mostly defined an abstract interface, static constants and types. It is templated by: More...

#include <state-observation/observer/observer-base.hpp>

Inheritance diagram for stateObservation::ObserverBase:

[legend]

Public Types
typedef Vector	StateVector
	StateVector is the type of state vector. More...

typedef Vector	MeasureVector
	MeasureVector is the type of measurements vector. More...

typedef Vector	InputVector
	InputVector is the type of the input vector. More...

Public Member Functions
	ObserverBase (Index n, Index m, Index p=0)

	ObserverBase ()
	default constructor (default values for n,m,p are zero) More...

virtual	~ObserverBase ()
	Destructor. More...

virtual void	setStateSize (Index n)
	Changes the size of the state vector. More...

virtual Index	getStateSize () const
	gets the size of the state vector More...

virtual void	setMeasureSize (Index m)
	Changes the size of the measurement vector. More...

virtual Index	getMeasureSize () const
	gets the size of the measurement vector More...

virtual void	setInputSize (Index p)
	Changes the size of the input vector. More...

virtual Index	getInputSize () const
	gets the size of the input vector More...

virtual void	setState (const StateVector &x_k, TimeIndex k)=0
	Set the value of the state vector at time index k. More...

virtual void	clearStates ()=0
	Remove all the given values of the state. More...

virtual void	setMeasurement (const MeasureVector &y_k, TimeIndex k)=0
	Set the value of the measurements vector at time index k. More...

virtual void	clearMeasurements ()=0
	Remove all the given values of the measurements. More...

virtual void	setInput (const InputVector &x_k, TimeIndex k)=0
	Set the value of the input vector at time index k. More...

virtual void	clearInputs ()=0
	Remove all the given values of the inputs. More...

virtual void	clearInputsAndMeasurements ()
	Remove all the given values of the inputs and measurements. More...

virtual StateVector	getEstimatedState (TimeIndex k)=0

virtual void	reset ()

virtual StateVector	stateVectorConstant (double c) const

virtual StateVector	stateVectorRandom () const
	Gives a vector of state vector size having random values. More...

virtual StateVector	stateVectorZero () const
	Gives a vector of state vector size having zero values. More...

virtual bool	checkStateVector (const StateVector &v) const
	Tells whether or not the vector has the dimensions of a state vector. More...

virtual MeasureVector	measureVectorConstant (double c) const
	Gives a vector of measurement vector size having duplicated "c" value. More...

virtual MeasureVector	measureVectorRandom () const
	Gives a vector of measurement vector size having random values. More...

virtual MeasureVector	measureVectorZero () const
	Gives a vector of measurement vector size having zero values. More...

virtual bool	checkMeasureVector (const MeasureVector &) const
	Tells whether or not the vector has the dimensions of a measurement vector. More...

virtual InputVector	inputVectorConstant (double c) const
	Gives a vector of input vector size having duplicated "c" value. More...

virtual InputVector	inputVectorRandom () const
	Gives a vector of input vector size having random values. More...

virtual InputVector	inputVectorZero () const
	Gives a vector of input vector size having zero values. More...

virtual bool	checkInputVector (const InputVector &) const
	Tells whether or not the vector has the dimensions of a input vector. More...

Protected Attributes
Index	n_
	stateSize is the size of the state vector More...

Index	m_
	measureSize is the size of measurements vector More...

Index	p_
	inputSize is the size of the input vector More...

Detailed Description

The base class for observers. The observer is destinated to any dynamical system with a vector state representation. This class mostly defined an abstract interface, static constants and types. It is templated by:

Member Typedef Documentation

◆ InputVector

typedef Vector stateObservation::ObserverBase::InputVector

InputVector is the type of the input vector.

◆ MeasureVector

typedef Vector stateObservation::ObserverBase::MeasureVector

MeasureVector is the type of measurements vector.

◆ StateVector

typedef Vector stateObservation::ObserverBase::StateVector

StateVector is the type of state vector.

Constructor & Destructor Documentation

◆ ObserverBase() [1/2]

stateObservation::ObserverBase::ObserverBase	(	Index	n,
		Index	m,
		Index	p = `0`
	)

constructor

n : size of the state vector
m : size of the measurements vector
p : size of the input vector

◆ ObserverBase() [2/2]

stateObservation::ObserverBase::ObserverBase ( )

default constructor (default values for n,m,p are zero)

◆ ~ObserverBase()

virtual stateObservation::ObserverBase::~ObserverBase ( )

inlinevirtual

Destructor.

Member Function Documentation

◆ checkInputVector()

virtual bool stateObservation::ObserverBase::checkInputVector ( const InputVector & ) const

virtual

Tells whether or not the vector has the dimensions of a input vector.

◆ checkMeasureVector()

virtual bool stateObservation::ObserverBase::checkMeasureVector ( const MeasureVector & ) const

virtual

Tells whether or not the vector has the dimensions of a measurement vector.

◆ checkStateVector()

virtual bool stateObservation::ObserverBase::checkStateVector ( const StateVector & v ) const

virtual

Tells whether or not the vector has the dimensions of a state vector.

◆ clearInputs()

virtual void stateObservation::ObserverBase::clearInputs ( )

pure virtual

Remove all the given values of the inputs.

Implemented in stateObservation::ZeroDelayObserver.

◆ clearInputsAndMeasurements()

virtual void stateObservation::ObserverBase::clearInputsAndMeasurements ( )

virtual

Remove all the given values of the inputs and measurements.

Reimplemented in stateObservation::ZeroDelayObserver.

◆ clearMeasurements()

virtual void stateObservation::ObserverBase::clearMeasurements ( )

pure virtual

Remove all the given values of the measurements.

Implemented in stateObservation::ZeroDelayObserver.

◆ clearStates()

virtual void stateObservation::ObserverBase::clearStates ( )

pure virtual

Remove all the given values of the state.

Implemented in stateObservation::KalmanFilterBase, and stateObservation::ZeroDelayObserver.

◆ getEstimatedState()

virtual StateVector stateObservation::ObserverBase::getEstimatedState ( TimeIndex k )

pure virtual

Run the observer loop and gets the state estimation of the state at instant k

Implemented in stateObservation::ZeroDelayObserver.

◆ getInputSize()

virtual Index stateObservation::ObserverBase::getInputSize ( ) const

virtual

gets the size of the input vector

◆ getMeasureSize()

virtual Index stateObservation::ObserverBase::getMeasureSize ( ) const

virtual

gets the size of the measurement vector

◆ getStateSize()

virtual Index stateObservation::ObserverBase::getStateSize ( ) const

virtual

gets the size of the state vector

◆ inputVectorConstant()

virtual InputVector stateObservation::ObserverBase::inputVectorConstant ( double c ) const

virtual

Gives a vector of input vector size having duplicated "c" value.

◆ inputVectorRandom()

virtual InputVector stateObservation::ObserverBase::inputVectorRandom ( ) const

virtual

Gives a vector of input vector size having random values.

◆ inputVectorZero()

virtual InputVector stateObservation::ObserverBase::inputVectorZero ( ) const

virtual

Gives a vector of input vector size having zero values.

◆ measureVectorConstant()

virtual MeasureVector stateObservation::ObserverBase::measureVectorConstant ( double c ) const

virtual

Gives a vector of measurement vector size having duplicated "c" value.

◆ measureVectorRandom()

virtual MeasureVector stateObservation::ObserverBase::measureVectorRandom ( ) const

virtual

Gives a vector of measurement vector size having random values.

◆ measureVectorZero()

virtual MeasureVector stateObservation::ObserverBase::measureVectorZero ( ) const

virtual

Gives a vector of measurement vector size having zero values.

◆ reset()

virtual void stateObservation::ObserverBase::reset ( )

virtual

Reinitializes the whole observer default behavior is to call the three "ObserverBase::clear*" methods

Reimplemented in stateObservation::KalmanFilterBase, and stateObservation::ExtendedKalmanFilter.

◆ setInput()

virtual void stateObservation::ObserverBase::setInput	(	const InputVector &	x_k,
		TimeIndex	k
	)

pure virtual

Set the value of the input vector at time index k.

Implemented in stateObservation::ZeroDelayObserver.

◆ setInputSize()

virtual void stateObservation::ObserverBase::setInputSize ( Index p )

virtual

Changes the size of the input vector.

Reimplemented in stateObservation::ZeroDelayObserver, and stateObservation::LinearKalmanFilter.

◆ setMeasurement()

virtual void stateObservation::ObserverBase::setMeasurement	(	const MeasureVector &	y_k,
		TimeIndex	k
	)

pure virtual

Set the value of the measurements vector at time index k.

Implemented in stateObservation::ZeroDelayObserver.

◆ setMeasureSize()

virtual void stateObservation::ObserverBase::setMeasureSize ( Index m )

virtual

Changes the size of the measurement vector.

Reimplemented in stateObservation::KalmanFilterBase, stateObservation::ZeroDelayObserver, and stateObservation::LinearKalmanFilter.

◆ setState()

virtual void stateObservation::ObserverBase::setState	(	const StateVector &	x_k,
		TimeIndex	k
	)

pure virtual

Set the value of the state vector at time index k.

Implemented in stateObservation::ZeroDelayObserver.

◆ setStateSize()

virtual void stateObservation::ObserverBase::setStateSize ( Index n )

virtual

Changes the size of the state vector.

Reimplemented in stateObservation::KalmanFilterBase, stateObservation::ZeroDelayObserver, and stateObservation::LinearKalmanFilter.

◆ stateVectorConstant()

virtual StateVector stateObservation::ObserverBase::stateVectorConstant ( double c ) const

virtual

These are initializer for vectors We do not use the get prefix to be consistent with eigen initializers Gives a vector of state vector size having duplicated "c" value

◆ stateVectorRandom()

virtual StateVector stateObservation::ObserverBase::stateVectorRandom ( ) const

virtual

Gives a vector of state vector size having random values.

◆ stateVectorZero()

virtual StateVector stateObservation::ObserverBase::stateVectorZero ( ) const

virtual

Gives a vector of state vector size having zero values.

Member Data Documentation

◆ m_

Index stateObservation::ObserverBase::m_

protected

measureSize is the size of measurements vector

◆ n_

Index stateObservation::ObserverBase::n_

protected

stateSize is the size of the state vector

◆ p_

Index stateObservation::ObserverBase::p_

protected

inputSize is the size of the input vector

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

include/state-observation/observer/observer-base.hpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ InputVector

◆ MeasureVector

◆ StateVector

Constructor & Destructor Documentation

◆ ObserverBase() [1/2]

◆ ObserverBase() [2/2]

◆ ~ObserverBase()

Member Function Documentation

◆ checkInputVector()

◆ checkMeasureVector()

◆ checkStateVector()

◆ clearInputs()

◆ clearInputsAndMeasurements()

◆ clearMeasurements()

◆ clearStates()

◆ getEstimatedState()

◆ getInputSize()

◆ getMeasureSize()

◆ getStateSize()

◆ inputVectorConstant()

◆ inputVectorRandom()

◆ inputVectorZero()

◆ measureVectorConstant()

◆ measureVectorRandom()

◆ measureVectorZero()

◆ reset()

◆ setInput()

◆ setInputSize()

◆ setMeasurement()

◆ setMeasureSize()

◆ setState()

◆ setStateSize()

◆ stateVectorConstant()

◆ stateVectorRandom()

◆ stateVectorZero()

Member Data Documentation

◆ m_

◆ n_

◆ p_