jafar::fusion::PredictModelFusion Class Reference

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Detailed Description

Definition at line 24 of file fusion.hpp.

Inheritance diagram for jafar::fusion::PredictModelFusion:

List of all members.

Public Member Functions
	PredictModelFusion (std::size_t sizeState, std::size_t sizeCommand)
virtual void	predict (jblas::vec &x, jblas::vec const &u_)
	prediction function.
void	computeJacobianState (jblas::vec _x, jblas::vec u, jblas::mat C, jblas::mat E)
virtual void	setTimeStep (boost::posix_time::time_duration const &timeStep)
	Change value of timeStep.
Private Member Functions
jblas::mat	DCMmatrix (jblas::vec &_x)
jblas::mat	RotationRateMatrix (jblas::vec &_x)
Private Attributes
jblas::sym_mat	W

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Member Function Documentation

virtual void jafar::fusion::PredictModelFusion::predict	(	jblas::vec &	x,
		jblas::vec const &	u_
	)		[virtual]

prediction function.

predict() implementation should look like:

   void MyPredictModel::predict(jblas::vec& x, jblas::vec const& u_) {
     // compute jacobian aroud x_t, store it in F
     // compute jacobian aroud u_, store it in G
     // compute Q if relevant
     // compute x_t+1 function of x_t and u_
     // store result in x
   }

Implements jafar::filter::JacobianCommandPredictModel.

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

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