Smooth constraint to be applied on a kalman filter state. More...

Detailed Description

Smooth constraint to be applied on a kalman filter state.

Definition at line 17 of file constraintModel.hpp.

Inheritance diagram for jafar::filter::JacobianStrongConstraintModel:

Public Member Functions
	JacobianStrongConstraintModel (std::size_t sizeState, double value, double alpha, int maxNbTimesApplied=-1)
std::size_t	sizeState () const
double	value () const
bool	doApplyConstraint (jblas::vec_range const &x, jblas::sym_mat_range const &xCov)
virtual double	estimateValue (jblas::vec_range const &x0) const =0
virtual void	estimateValueJac (jblas::vec_range const &x0)=0
virtual double	weakeningVariance ()
Public Attributes
jblas::mat	J
	Jacobian of the constraint.
Protected Member Functions
virtual void	writeLogHeader (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
virtual void	writeLogData (jafar::kernel::DataLogger &log) const
	Implements this method calling repeatidly log methods.
Protected Attributes
std::size_t	p_sizeState
double	p_value
	target value of the constraint
double	p_alpha
	ratio for computing R0
double	p_R0
	reference weakening covariance
bool	p_doApplyConstraint
	last constraint was appllied
double	p_R
	last weakening covariance
double	p_relativeStrength
	last relative strength
double	p_estimatedValue
	last estimated value
int	p_nbTimesApplied
int	p_maxNbTimesApplied
Static Protected Attributes
static const double	applyThreshold

Member Function Documentation

virtual void jafar::filter::JacobianStrongConstraintModel::writeLogData ( jafar::kernel::DataLogger & log ) const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeData() or writeDataVector().

virtual void jafar::filter::JacobianStrongConstraintModel::writeLogHeader ( jafar::kernel::DataLogger & log ) const [protected, virtual]

Implements this method calling repeatidly log methods.

You should use writeComment(), writeLegend() or writeLegendTokens().

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