Go to the documentation of this file.
15 #ifndef STATEOBSERVER_EXTENDEDKALMANFILTERHPP
16 #define STATEOBSERVER_EXTENDEDKALMANFILTERHPP
18 #include <state-observation/api.h>
63 bool directInputOutputFeedthrough =
true,
64 bool directInputStateProcessFeedthrough =
true);
80 bool directInputOutputFeedthrough,
81 bool directInputStateProcessFeedthrough);
98 void setDirectInputOutputFeedthrough(
bool b =
true);
102 void setDirectInputStateFeedthrough(
bool b =
true);
117 virtual void reset();
141 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
153 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
158 #endif // EXTENDEDKALMANFILTERHPP
Eigen::VectorXd Vector
Dynamic sized scalar vector.
Definition: definitions.hpp:76
Definition: extended-kalman-filter.hpp:139
KalmanFilterBase::Amatrix a_
Definition: extended-kalman-filter.hpp:143
Vector StateVector
StateVector is the type of state vector.
Definition: observer-base.hpp:42
ObserverBase::MeasureVector yp_
Definition: extended-kalman-filter.hpp:148
This is the base class of any functor that describes the dynamics of the state and the measurement....
Definition: dynamical-system-functor-base.hpp:32
Definition: extended-kalman-filter.hpp:42
Matrix Cmatrix
The type of the jacobian dh/dx.
Definition: kalman-filter-base.hpp:57
Matrix Amatrix
The type of the jacobian df/dx.
Definition: kalman-filter-base.hpp:54
EIGEN_MAKE_ALIGNED_OPERATOR_NEW ObserverBase::InputVector u_
Definition: extended-kalman-filter.hpp:142
It mostly implements the equations of Kalman filtering It is suitablle by derivation to be used incas...
Definition: kalman-filter-base.hpp:50
KalmanFilterBase::Cmatrix c_
Definition: extended-kalman-filter.hpp:144
ObserverBase::StateVector x_
Definition: extended-kalman-filter.hpp:145
Defines the base class of a Kalman filter.
ObserverBase::StateVector xp_
Definition: extended-kalman-filter.hpp:147
Vector MeasureVector
MeasureVector is the type of measurements vector.
Definition: observer-base.hpp:45
ObserverBase::StateVector dx_
Definition: extended-kalman-filter.hpp:146
long int TimeIndex
Definition: definitions.hpp:139
constexpr double m
mass of the robot
Definition: hrp2.hpp:36
DynamicalSystemFunctorBase * f_
pointer on the dynamics functor
Definition: extended-kalman-filter.hpp:136
Eigen::Index Index
Definition: definitions.hpp:138
bool directInputOutputFeedthrough_
boolean that provides if theris a need of not for input for the masurement
Definition: extended-kalman-filter.hpp:130
Vector InputVector
InputVector is the type of the input vector.
Definition: observer-base.hpp:48
Definition: bidim-elastic-inv-pendulum-dyn-sys.hpp:20
bool directInputStateProcessFeedthrough_
boolean that provides if theris a need of not for input for the state dynamics
Definition: extended-kalman-filter.hpp:133