jafar::filter::JacobianImplicitObserveModel Class Reference

Non linear implicit observation model. More...

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Detailed Description

Non linear implicit observation model.

To define your own model you MUST derive this class. the observation model is of the type h(X,Z)=0 where h is not linear

Definition at line 154 of file observeModel.hpp.

#include <observeModel.hpp>

Inheritance diagram for jafar::filter::JacobianImplicitObserveModel:

List of all members.

Public Member Functions
	JacobianImplicitObserveModel (std::size_t sizeObs_, std::size_t sizeState_, std::size_t functionCompenent)
	functionCompenent is the numer of compenent in the observation function
virtual jblas::vec const &	computeInnovation (const jblas::vec &x_, const jblas::vec &z_)=0
virtual void	computeJacobian (const jblas::vec &x_, const jblas::vec &z_)=0
	call this method to compute the jacobian of the observation function with respect to X and Z
Public Attributes
jblas::mat	Jobs_X
	Jacobian of the observe function with respect to the state X.
jblas::mat	Jobs_Z
	Jacobian of the observe function with respect to the measurement Z.

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Constructor & Destructor Documentation

jafar::filter::JacobianImplicitObserveModel::JacobianImplicitObserveModel	(	std::size_t	sizeObs_,
		std::size_t	sizeState_,
		std::size_t	functionCompenent
	)

functionCompenent is the numer of compenent in the observation function

example: if h(X,Z) has its value in R then functionCompenent=1 if h(X,Z) has its value in R² then functionCompenent=2 if h(X,Z) has its value in R³ then functionCompenent=3 etc..

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Member Data Documentation

jblas::mat jafar::filter::JacobianImplicitObserveModel::Jobs_X

Jacobian of the observe function with respect to the state X.

Warning:

do not forget to call computeJacobian() before using Jobs_X

Definition at line 163 of file observeModel.hpp.

jblas::mat jafar::filter::JacobianImplicitObserveModel::Jobs_Z

Jacobian of the observe function with respect to the measurement Z.

Warning:

do not forget to call computeJacobian() before using Jobs_Z

Definition at line 170 of file observeModel.hpp.

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

• modules/filter/include/filter/observeModel.hpp