autoware::common::state_estimation::StateEstimationInterface< Derived > Class Template Reference

Interface for a filter that can be used to track an object. More...

#include <state_estimation_interface.hpp>

Inheritance diagram for autoware::common::state_estimation::StateEstimationInterface< Derived >:

Collaboration diagram for autoware::common::state_estimation::StateEstimationInterface< Derived >:

Public Member Functions
auto	predict (const std::chrono::nanoseconds &dt)
	Predict the state by dt into the future. More...
template<typename MeasurementT >
auto	correct (const MeasurementT &measurement)
	Correct the state with a measurement. More...
template<typename StateT >
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< Derived >
const Derived &	impl () const
Derived &	impl ()

Detailed Description

template<typename Derived>
class autoware::common::state_estimation::StateEstimationInterface< Derived >

Interface for a filter that can be used to track an object.

Template Parameters

Derived

An implementation of this filter.

Member Function Documentation

correct()

template<typename Derived >

template<typename MeasurementT >

auto autoware::common::state_estimation::StateEstimationInterface< Derived >::correct ( const MeasurementT &  measurement )

inline

Correct the state with a measurement.

Note

It is expected that prediction step was called before-wise.

Parameters

[in]

measurement

The measurement

Template Parameters

MeasurementT

Measurement type

Returns

A corrected state.

covariance() [1/2]

template<typename Derived >

auto& autoware::common::state_estimation::StateEstimationInterface< Derived >::covariance ( )

inline

Return current covariance.

covariance() [2/2]

template<typename Derived >

const auto& autoware::common::state_estimation::StateEstimationInterface< Derived >::covariance ( ) const

inline

Return current covariance.

predict()

template<typename Derived >

auto autoware::common::state_estimation::StateEstimationInterface< Derived >::predict ( const std::chrono::nanoseconds &  dt )

inline

Predict the state by dt into the future.

Parameters

[in]

dt

Time for prediction.

Returns

A new predicted state.

reset()

template<typename Derived >

template<typename StateT >

void autoware::common::state_estimation::StateEstimationInterface< Derived >::reset ( const StateT &  state, const typename StateT::Matrix &  covariance  )

inline

Reset the internal state of the vector to the given state and covariance.

Parameters

[in]	state	The new state
[in]	covariance	The new covariance

Template Parameters

StateT

The state type. It must match the one already stored in the filter.

state() [1/2]

template<typename Derived >

auto& autoware::common::state_estimation::StateEstimationInterface< Derived >::state ( )

inline

Return current state.

state() [2/2]

template<typename Derived >

const auto& autoware::common::state_estimation::StateEstimationInterface< Derived >::state ( ) const

inline

Return current state.

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

• state_estimation_interface.hpp