osvr::kalman::CorrectionInProgress< StateType, MeasurementType > Struct Template Reference

Public Member Functions
	CorrectionInProgress (StateType &state, MeasurementType &meas, types::SquareMatrix< n > const &P_, types::Matrix< n, m > const &PHt_, types::SquareMatrix< m > const &S)
bool	finishCorrection (bool cancelIfNotFinite=true)
	That's as far as we go here before you choose to continue. More...

Public Attributes
types::SquareMatrix< n >	P
	State error covariance.
types::Matrix< n, m >	PHt
	The kalman gain stuff to not invert (called P12 in TAG)
Eigen::LDLT < types::SquareMatrix< m > >	denom
types::Vector< m >	deltaz
	Measurement residual/delta z/innovation.
types::Vector< n >	stateCorrection
	Corresponding state change to apply.
bool	stateCorrectionFinite
	Is the state correction free of NaNs and +- infs?

Static Public Attributes
static const types::DimensionType	m
	Dimension of measurement. More...
static const types::DimensionType	n
	Dimension of state. More...

Detailed Description

template<typename StateType, typename MeasurementType>
struct osvr::kalman::CorrectionInProgress< StateType, MeasurementType >

Definition at line 40 of file FlexibleKalmanCorrect.h.

Member Function Documentation

template<typename StateType, typename MeasurementType>

bool osvr::kalman::CorrectionInProgress< StateType, MeasurementType >::finishCorrection ( bool  cancelIfNotFinite = true )

inline

That's as far as we go here before you choose to continue.

Finish computing the rest and correct the state.

Parameters

cancelIfNotFinite

If the new error covariance is detected to contain non-finite values, should we cancel the correction and not apply it?

Returns

true if correction completed

Definition at line 88 of file FlexibleKalmanCorrect.h.

Member Data Documentation

template<typename StateType, typename MeasurementType>

const types::DimensionType osvr::kalman::CorrectionInProgress< StateType, MeasurementType >::m

static

Initial value:

=
            types::Dimension<MeasurementType>::value

Dimension of measurement.

Definition at line 42 of file FlexibleKalmanCorrect.h.

template<typename StateType, typename MeasurementType>

const types::DimensionType osvr::kalman::CorrectionInProgress< StateType, MeasurementType >::n

static

Initial value:

=
            types::Dimension<StateType>::value

Dimension of state.

Definition at line 45 of file FlexibleKalmanCorrect.h.

template<typename StateType, typename MeasurementType>

Eigen::LDLT<types::SquareMatrix<m> > osvr::kalman::CorrectionInProgress< StateType, MeasurementType >::denom

Decomposition of S

Not going to directly compute Kalman gain K = PHt (S^-1) Instead, decomposed S to solve things of the form (S^-1)x repeatedly later, by using the substitution Kx = PHt denom.solve(x)

Todo:

Figure out if this is the best decomp to use

Definition at line 70 of file FlexibleKalmanCorrect.h.

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

• osvr/Kalman/FlexibleKalmanCorrect.h