jafar::fusion::ObservationModelFusion Class Reference

---

Detailed Description

Definition at line 47 of file fusion.hpp.

Inheritance diagram for jafar::fusion::ObservationModelFusion:

List of all members.

Public Member Functions
	ObservationModelFusion (std::size_t sizeObs_, std::size_t sizeState_, int sensor)
jblas::vec const &	predictObservation (jblas::vec const &x_)
	Predict observation for state x_.
virtual void	predictObservationJac (const jblas::vec &x_)
	call this method to compute the jacobian of the observation function
void	setUncorrelatedR (jblas::vec R_)
void	setSampleTime (double time)
double	getSampleTime ()
void	setObsNum (std::size_t num)
Public Attributes
jblas::vec	eulerPrev
Private Attributes
int	m_sensor
std::size_t	m_obsNum
double	m_samplingTime

---

Member Function Documentation

jblas::vec const& jafar::fusion::ObservationModelFusion::predictObservation

(

jblas::vec const &

x_

)

[virtual]

Predict observation for state x_.

In order to minimize memory allocation, z vector is allocated once, predictObservation() implementation should look like:

   const vec& predictObservation(const vec& x_) {
     JFR_PRECOND(x_.size() == _sizeState, message);
     // compute z function of x_
     return z;
   }

Implements jafar::filter::JacobianObserveModel.

---

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

• modules/fusion/include/fusion/fusion.hpp