lti::kalmanTracker::parameters Class Reference

The parameters for the class kalmanTracker. More...

#include <ltiKalmanTracker.h>

Inheritance diagram for lti::kalmanTracker::parameters:

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Collaboration diagram for lti::kalmanTracker::parameters:

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List of all members.

Public Member Functions
	parameters (const int &stateDimensions=4)
	parameters (const parameters &other)
	~parameters ()
const char *	getTypeName () const
parameters &	copy (const parameters &other)
parameters &	operator= (const parameters &other)
virtual lti::functor::parameters *	clone () const
virtual bool	read (ioHandler &handler, const bool complete=true)
virtual bool	write (ioHandler &handler, const bool complete=true) const
Public Attributes
vector< float >	initialSystemState
matrix< float >	measurementNoiseCovariance
matrix< float >	processNoiseCovariance
matrix< float >	initialErrorCovariance
bool	autoInitialize

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Detailed Description

The parameters for the class kalmanTracker.

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Constructor & Destructor Documentation

lti::kalmanTracker::parameters::parameters

(

const int &

stateDimensions = 4

)

Initializes all matrices/vectors (except for measurement and process noise covariance) for an n-dimensional system state.

Currently n may be 4 or 6. Default is 4.

lti::kalmanTracker::parameters::parameters

(

const parameters &

other

)

copy constructor

Parameters:

other

the parameters object to be copied

lti::kalmanTracker::parameters::~parameters

(

)

[virtual]

destructor

Reimplemented from lti::functor::parameters.

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Member Function Documentation

virtual lti::functor::parameters* lti::kalmanTracker::parameters::clone

(

)

const [virtual]

returns a pointer to a clone of the parameters

Implements lti::functor::parameters.

parameters& lti::kalmanTracker::parameters::copy

(

const parameters &

other

)

copy the contents of a parameters object

Parameters:

other

the parameters object to be copied

Returns:

a reference to this parameters object

const char* lti::kalmanTracker::parameters::getTypeName

(

)

const [virtual]

returns name of this type

Reimplemented from lti::functor::parameters.

parameters& lti::kalmanTracker::parameters::operator=

(

const parameters &

other

)

copy the contents of a parameters object

Parameters:

other

the parameters object to be copied

Returns:

a reference to this parameters object

virtual bool lti::kalmanTracker::parameters::read	(	ioHandler &	handler,
		const bool	complete = true
	)			[virtual]

write the parameters in the given ioHandler

Parameters:

	handler	the ioHandler to be used
	complete	if true (the default) the enclosing begin/end will be also written, otherwise only the data block will be written.

Returns:

true if write was successful

Reimplemented from lti::functor::parameters.

virtual bool lti::kalmanTracker::parameters::write	(	ioHandler &	handler,
		const bool	complete = true
	)			const [virtual]

write the parameters in the given ioHandler

Parameters:

	handler	the ioHandler to be used
	complete	if true (the default) the enclosing begin/end will be also written, otherwise only the data block will be written.

Returns:

true if write was successful

Reimplemented from lti::functor::parameters.

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Member Data Documentation

bool lti::kalmanTracker::parameters::autoInitialize

AutoInitialization means that the tracker uses the first actual measurement as initial system state (i.e. x and y are set to the first measurement, while all other state variables are set to zero).

Default is false.

matrix<float> lti::kalmanTracker::parameters::initialErrorCovariance

Initial value for the estimate error covariance matrix (P; 4x4 / 6x6 for constant-velocity/constant-acceleration).

This value is used to initialize both the a priori and the a posteriori error covariance ( and ). Depending on whether the first update is a time/measurement update, the latter/former will be overwritten. This matrix has a default value of 1 (unity). It should be specified considering the uncertainty of the supplied initial system state.

vector<float> lti::kalmanTracker::parameters::initialSystemState

The initial system state (used to initialize the tracker) (4x1 / 6x1 for constant-velocity/constant-acceleration).

If you want to automatically initialize the tracker with the first measurement, use autoInitialize. Default value is 0. Specifying an initial system state is a good idea, but is not generally required.

matrix<float> lti::kalmanTracker::parameters::measurementNoiseCovariance

Measurement noise covariance matrix (R; 2x2).

This matrix has no default value and must be supplied!

matrix<float> lti::kalmanTracker::parameters::processNoiseCovariance

Process noise covariance matrix (Q; 4x4 / 6x6 for constant-velocity/constant-acceleration).

This matrix has no default value and must be supplied!

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

• ltiKalmanTracker.h