autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT

A Kalman filter implementation. More...

#include <kalman_filter.hpp>

Inheritance diagram for autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >:

Collaboration diagram for autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >:

Public Types
using	State = typename MotionModelT::State

using	StateMatrix = typename State::Matrix

using	MotionModel = MotionModelT

using	NoiseModel = NoiseModelT

Public Member Functions
	KalmanFilter (MotionModelT motion_model, NoiseModelT noise_model, const State &initial_state, const StateMatrix &initial_covariance)
	Constructs a new instance of a Kalman filter. More...

State	crtp_predict (const std::chrono::nanoseconds &dt)
	Predict next state. More...

template<typename MeasurementT >
State	crtp_correct (const MeasurementT &measurement)
	Correct the predicted state given a measurement. More...

void	crtp_reset (const State &state, const StateMatrix &covariance)
	Reset the state of the filter to a given state and covariance. More...

auto &	crtp_state ()
	Get current state. More...

const auto &	crtp_state () const
	Get current state. More...

auto &	crtp_covariance ()
	Get current covariance. More...

const auto &	crtp_covariance () const
	Get current covariance. More...

Public Member Functions inherited from autoware::common::state_estimation::StateEstimationInterface< KalmanFilter< MotionModelT, NoiseModelT > >
auto	predict (const std::chrono::nanoseconds &dt)
	Predict the state by dt into the future. More...

auto	correct (const MeasurementT &measurement)
	Correct the state with a measurement. More...

void	reset (const StateT &state, const typename StateT::Matrix &covariance)
	Reset the internal state of the vector to the given state and covariance. More...

auto &	state ()
	Return current state. More...

const auto &	state () const
	Return current state. More...

auto &	covariance ()
	Return current covariance. More...

const auto &	covariance () const
	Return current covariance. More...

Additional Inherited Members
Protected Member Functions inherited from autoware::common::helper_functions::crtp< KalmanFilter< MotionModelT, NoiseModelT > >
const KalmanFilter< MotionModelT, NoiseModelT > &	impl () const

KalmanFilter< MotionModelT, NoiseModelT > &	impl ()

Detailed Description

template<typename MotionModelT, typename NoiseModelT>
class autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >

A Kalman filter implementation.

Template Parameters

MotionModelT	Type of the motion model.
NoiseModelT	Type of the noise model.

Member Typedef Documentation

◆ MotionModel

template<typename MotionModelT , typename NoiseModelT >

using autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::MotionModel = MotionModelT

◆ NoiseModel

template<typename MotionModelT , typename NoiseModelT >

using autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::NoiseModel = NoiseModelT

◆ State

template<typename MotionModelT , typename NoiseModelT >

using autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::State = typename MotionModelT::State

◆ StateMatrix

template<typename MotionModelT , typename NoiseModelT >

using autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::StateMatrix = typename State::Matrix

Constructor & Destructor Documentation

◆ KalmanFilter()

template<typename MotionModelT , typename NoiseModelT >

autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::KalmanFilter	(	MotionModelT	motion_model,
		NoiseModelT	noise_model,
		const State &	initial_state,
		const StateMatrix &	initial_covariance
	)

inlineexplicit

Constructs a new instance of a Kalman filter.

Parameters

[in]	motion_model	The motion model to be used to predict the movement.
[in]	noise_model	The noise model that models the motion noise.
[in]	initial_state	The initial state of the filter.
[in]	initial_covariance	The initial state covariance.

Member Function Documentation

◆ crtp_correct()

template<typename MotionModelT , typename NoiseModelT >

template<typename MeasurementT >

State autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_correct ( const MeasurementT & measurement )

inline

Correct the predicted state given a measurement.

Note: It is expected that a prediction step was done right before the correction.

Parameters

[in] measurement Current measurement.

Template Parameters

MeasurementT Measurement type.

Returns: State corrected with the measurement.

◆ crtp_covariance() [1/2]

template<typename MotionModelT , typename NoiseModelT >

auto& autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_covariance ( )

inline

Get current covariance.

◆ crtp_covariance() [2/2]

template<typename MotionModelT , typename NoiseModelT >

const auto& autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_covariance ( ) const

inline

Get current covariance.

◆ crtp_predict()

template<typename MotionModelT , typename NoiseModelT >

State autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_predict ( const std::chrono::nanoseconds & dt )

inline

Predict next state.

Parameters

[in] dt Time difference to the time at which prediction is needed.

Returns: Predicted state.

◆ crtp_reset()

template<typename MotionModelT , typename NoiseModelT >

void autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_reset	(	const State &	state,
		const StateMatrix &	covariance
	)

inline

Reset the state of the filter to a given state and covariance.

Parameters

[in]	state	The new state that overwrites one stored in the filter.
[in]	covariance	The new covariance that overwrites one stored in the filter.

◆ crtp_state() [1/2]

template<typename MotionModelT , typename NoiseModelT >

auto& autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_state ( )

inline

Get current state.

◆ crtp_state() [2/2]

template<typename MotionModelT , typename NoiseModelT >

const auto& autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >::crtp_state ( ) const

inline

Get current state.

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

kalman_filter.hpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

template<typename MotionModelT, typename NoiseModelT> class autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >

Member Typedef Documentation

◆ MotionModel

◆ NoiseModel

◆ State

◆ StateMatrix

Constructor & Destructor Documentation

◆ KalmanFilter()

Member Function Documentation

◆ crtp_correct()

◆ crtp_covariance() [1/2]

◆ crtp_covariance() [2/2]

◆ crtp_predict()

◆ crtp_reset()

◆ crtp_state() [1/2]

◆ crtp_state() [2/2]

template<typename MotionModelT, typename NoiseModelT>
class autoware::common::state_estimation::KalmanFilter< MotionModelT, NoiseModelT >