MRPT  2.0.2
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mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE > Class Template Referenceabstract
[mrpt-bayes]

Detailed Description

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
class mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >

Virtual base for Kalman Filter (EKF,IEKF,UKF) implementations.

This base class stores the state vector and covariance matrix of the system. It has virtual methods that must be completed by derived classes to address a given filtering problem. The main entry point of the algorithm is CKalmanFilterCapable::runOneKalmanIteration, which should be called AFTER setting the desired filter options in KF_options, as well as any options in the derived class. Note that the main entry point is protected, so derived classes must offer another method more specific to a given problem which, internally, calls runOneKalmanIteration.

For further details and examples, check out the tutorial: http://www.mrpt.org/Kalman_Filters

The Kalman filter algorithms are generic, but this implementation is biased to ease the implementation of SLAM-like problems. However, it can be also applied to many generic problems not related to robotics or SLAM.

The meaning of the template parameters is:

Revisions:

See also
mrpt::slam::CRangeBearingKFSLAM, mrpt::slam::CRangeBearingKFSLAM2D

Definition at line 50 of file CKalmanFilterCapable.h.

#include <mrpt/bayes/CKalmanFilterCapable.h>

Inheritance diagram for mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >:

Public Types

using kftype = KFTYPE
 The numeric type used in the Kalman Filter (default=double) More...
 
using KFCLASS = CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >
 My class, in a shorter name! More...
 
using KFVector = mrpt::math::CVectorDynamic< KFTYPE >
 
using KFMatrix = mrpt::math::CMatrixDynamic< KFTYPE >
 
using KFMatrix_VxV = mrpt::math::CMatrixFixed< KFTYPE, VEH_SIZE, VEH_SIZE >
 
using KFMatrix_OxO = mrpt::math::CMatrixFixed< KFTYPE, OBS_SIZE, OBS_SIZE >
 
using KFMatrix_FxF = mrpt::math::CMatrixFixed< KFTYPE, FEAT_SIZE, FEAT_SIZE >
 
using KFMatrix_AxA = mrpt::math::CMatrixFixed< KFTYPE, ACT_SIZE, ACT_SIZE >
 
using KFMatrix_VxO = mrpt::math::CMatrixFixed< KFTYPE, VEH_SIZE, OBS_SIZE >
 
using KFMatrix_VxF = mrpt::math::CMatrixFixed< KFTYPE, VEH_SIZE, FEAT_SIZE >
 
using KFMatrix_FxV = mrpt::math::CMatrixFixed< KFTYPE, FEAT_SIZE, VEH_SIZE >
 
using KFMatrix_FxO = mrpt::math::CMatrixFixed< KFTYPE, FEAT_SIZE, OBS_SIZE >
 
using KFMatrix_OxF = mrpt::math::CMatrixFixed< KFTYPE, OBS_SIZE, FEAT_SIZE >
 
using KFMatrix_OxV = mrpt::math::CMatrixFixed< KFTYPE, OBS_SIZE, VEH_SIZE >
 
using KFArray_VEH = mrpt::math::CVectorFixed< KFTYPE, VEH_SIZE >
 
using KFArray_ACT = mrpt::math::CVectorFixed< KFTYPE, ACT_SIZE >
 
using KFArray_OBS = mrpt::math::CVectorFixed< KFTYPE, OBS_SIZE >
 
using vector_KFArray_OBS = std::vector< KFArray_OBS >
 
using KFArray_FEAT = mrpt::math::CVectorFixed< KFTYPE, FEAT_SIZE >
 

Public Member Functions

size_t getNumberOfLandmarksInTheMap () const
 
bool isMapEmpty () const
 
size_t getStateVectorLength () const
 
KFVector & internal_getXkk ()
 
KFMatrix & internal_getPkk ()
 
void getLandmarkMean (size_t idx, KFArray_FEAT &feat) const
 Returns the mean of the estimated value of the idx'th landmark (not applicable to non-SLAM problems). More...
 
void getLandmarkCov (size_t idx, KFMatrix_FxF &feat_cov) const
 Returns the covariance of the idx'th landmark (not applicable to non-SLAM problems). More...
 
 CKalmanFilterCapable ()
 
 ~CKalmanFilterCapable () override=default
 Destructor. More...
 
mrpt::system::CTimeLogger & getProfiler ()
 

Static Public Member Functions

static constexpr size_t get_vehicle_size ()
 
static constexpr size_t get_observation_size ()
 
static constexpr size_t get_feature_size ()
 
static constexpr size_t get_action_size ()
 
static std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_colors ()
 Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor. More...
 
static std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & logging_levels_to_names ()
 Map from VerbosityLevels to their corresponding names. More...
 

Public Attributes

TKF_options KF_options
 Generic options for the Kalman Filter algorithm itself. More...
 

Protected Member Functions

void runOneKalmanIteration ()
 The main entry point, executes one complete step: prediction + update. More...
 

Protected Attributes

mrpt::system::CTimeLogger m_timLogger
 
VerbosityLevel m_min_verbosity_level {LVL_INFO}
 Provided messages with VerbosityLevel smaller than this value shall be ignored. More...
 
Kalman filter state
KFVector m_xkk
 The system state vector. More...
 
KFMatrix m_pkk
 The system full covariance matrix. More...
 

Static Private Member Functions

static void KF_aux_estimate_trans_jacobian (const KFArray_VEH &x, const std::pair< KFCLASS *, KFArray_ACT > &dat, KFArray_VEH &out_x)
 Auxiliary functions for Jacobian numeric estimation. More...
 
static void KF_aux_estimate_obs_Hx_jacobian (const KFArray_VEH &x, const std::pair< KFCLASS *, size_t > &dat, KFArray_OBS &out_x)
 
static void KF_aux_estimate_obs_Hy_jacobian (const KFArray_FEAT &x, const std::pair< KFCLASS *, size_t > &dat, KFArray_OBS &out_x)
 

Private Attributes

vector_KFArray_OBS m_all_predictions
 
std::vector< size_t > m_predictLMidxs
 
std::vector< KFMatrix_OxV > m_Hxs
 The vector of all partial Jacobians dh[i]_dx for each prediction. More...
 
std::vector< KFMatrix_OxF > m_Hys
 The vector of all partial Jacobians dh[i]_dy[i] for each prediction. More...
 
KFMatrix m_S
 
vector_KFArray_OBS m_Z
 
KFMatrix m_K
 
KFMatrix m_S_1
 
KFMatrix m_dh_dx_full_obs
 
KFMatrix m_aux_K_dh_dx
 
bool m_user_didnt_implement_jacobian {true}
 

Friends

template<size_t VEH_SIZEb, size_t OBS_SIZEb, size_t FEAT_SIZEb, size_t ACT_SIZEb, typename KFTYPEb >
void detail::addNewLandmarks (CKalmanFilterCapable< VEH_SIZEb, OBS_SIZEb, FEAT_SIZEb, ACT_SIZEb, KFTYPEb > &obj, const typename CKalmanFilterCapable< VEH_SIZEb, OBS_SIZEb, FEAT_SIZEb, ACT_SIZEb, KFTYPEb >::vector_KFArray_OBS &Z, const std::vector< int > &data_association, const typename CKalmanFilterCapable< VEH_SIZEb, OBS_SIZEb, FEAT_SIZEb, ACT_SIZEb, KFTYPEb >::KFMatrix_OxO &R)
 

Virtual methods for Kalman Filter implementation

virtual void OnInverseObservationModel ([[maybe_unused]] const KFArray_OBS &in_z, [[maybe_unused]] KFArray_FEAT &out_yn, [[maybe_unused]] KFMatrix_FxV &out_dyn_dxv, [[maybe_unused]] KFMatrix_FxO &out_dyn_dhn) const
 If applicable to the given problem, this method implements the inverse observation model needed to extend the "map" with a new "element". More...
 
virtual void OnInverseObservationModel (const KFArray_OBS &in_z, KFArray_FEAT &out_yn, KFMatrix_FxV &out_dyn_dxv, KFMatrix_FxO &out_dyn_dhn, [[maybe_unused]] KFMatrix_FxF &out_dyn_dhn_R_dyn_dhnT, bool &out_use_dyn_dhn_jacobian) const
 If applicable to the given problem, this method implements the inverse observation model needed to extend the "map" with a new "element". More...
 
virtual void OnNewLandmarkAddedToMap ([[maybe_unused]] const size_t in_obsIdx, [[maybe_unused]] const size_t in_idxNewFeat)
 If applicable to the given problem, do here any special handling of adding a new landmark to the map. More...
 
virtual void OnNormalizeStateVector ()
 This method is called after the prediction and after the update, to give the user an opportunity to normalize the state vector (eg, keep angles within -pi,pi range) if the application requires it. More...
 
virtual void OnPostIteration ()
 This method is called after finishing one KF iteration and before returning from runOneKalmanIteration(). More...
 
virtual void OnGetAction (KFArray_ACT &out_u) const =0
 Must return the action vector u. More...
 
virtual void OnTransitionModel (const KFArray_ACT &in_u, KFArray_VEH &inout_x, bool &out_skipPrediction) const =0
 Implements the transition model $ \hat{x}_{k|k-1} = f( \hat{x}_{k-1|k-1}, u_k ) $. More...
 
virtual void OnTransitionJacobian ([[maybe_unused]] KFMatrix_VxV &out_F) const
 Implements the transition Jacobian $ \frac{\partial f}{\partial x} $. More...
 
virtual void OnTransitionJacobianNumericGetIncrements (KFArray_VEH &out_increments) const
 Only called if using a numeric approximation of the transition Jacobian, this method must return the increments in each dimension of the vehicle state vector while estimating the Jacobian. More...
 
virtual void OnTransitionNoise (KFMatrix_VxV &out_Q) const =0
 Implements the transition noise covariance $ Q_k $. More...
 
virtual void OnPreComputingPredictions ([[maybe_unused]] const vector_KFArray_OBS &in_all_prediction_means, std::vector< size_t > &out_LM_indices_to_predict) const
 This will be called before OnGetObservationsAndDataAssociation to allow the application to reduce the number of covariance landmark predictions to be made. More...
 
virtual void OnGetObservationNoise (KFMatrix_OxO &out_R) const =0
 Return the observation NOISE covariance matrix, that is, the model of the Gaussian additive noise of the sensor. More...
 
virtual void OnGetObservationsAndDataAssociation (vector_KFArray_OBS &out_z, std::vector< int > &out_data_association, const vector_KFArray_OBS &in_all_predictions, const KFMatrix &in_S, const std::vector< size_t > &in_lm_indices_in_S, const KFMatrix_OxO &in_R)=0
 This is called between the KF prediction step and the update step, and the application must return the observations and, when applicable, the data association between these observations and the current map. More...
 
virtual void OnObservationModel (const std::vector< size_t > &idx_landmarks_to_predict, vector_KFArray_OBS &out_predictions) const =0
 Implements the observation prediction $ h_i(x) $. More...
 
virtual void OnObservationJacobians ([[maybe_unused]] size_t idx_landmark_to_predict, [[maybe_unused]] KFMatrix_OxV &Hx, [[maybe_unused]] KFMatrix_OxF &Hy) const
 Implements the observation Jacobians $ \frac{\partial h_i}{\partial x} $ and (when applicable) $ \frac{\partial h_i}{\partial y_i} $. More...
 
virtual void OnObservationJacobiansNumericGetIncrements (KFArray_VEH &out_veh_increments, KFArray_FEAT &out_feat_increments) const
 Only called if using a numeric approximation of the observation Jacobians, this method must return the increments in each dimension of the vehicle state vector while estimating the Jacobian. More...
 
virtual void OnSubstractObservationVectors (KFArray_OBS &A, const KFArray_OBS &B) const
 Computes A=A-B, which may need to be re-implemented depending on the topology of the individual scalar components (eg, angles). More...
 

Logging methods

bool logging_enable_console_output {true}
 [Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically. More...
 
bool logging_enable_keep_record {false}
 [Default=false] Enables storing all messages into an internal list. More...
 
void logStr (const VerbosityLevel level, std::string_view msg_str) const
 Main method to add the specified message string to the logger. More...
 
void logFmt (const VerbosityLevel level, const char *fmt,...) const MRPT_printf_format_check(3
 Alternative logging method, which mimics the printf behavior. More...
 
void void logCond (const VerbosityLevel level, bool cond, const std::string &msg_str) const
 Log the given message only if the condition is satisfied. More...
 
void setLoggerName (const std::string &name)
 Set the name of the COutputLogger instance. More...
 
std::string getLoggerName () const
 Return the name of the COutputLogger instance. More...
 
void setMinLoggingLevel (const VerbosityLevel level)
 Set the minimum logging level for which the incoming logs are going to be taken into account. More...
 
void setVerbosityLevel (const VerbosityLevel level)
 alias of setMinLoggingLevel() More...
 
VerbosityLevel getMinLoggingLevel () const
 
bool isLoggingLevelVisible (VerbosityLevel level) const
 
void getLogAsString (std::string &log_contents) const
 Fill the provided string with the contents of the logger's history in std::string representation. More...
 
std::string getLogAsString () const
 Get the history of COutputLogger instance in a string representation. More...
 
void writeLogToFile (const std::string *fname_in=nullptr) const
 Write the contents of the COutputLogger instance to an external file. More...
 
void dumpLogToConsole () const
 Dump the current contents of the COutputLogger instance in the terminal window. More...
 
std::string getLoggerLastMsg () const
 Return the last Tmsg instance registered in the logger history. More...
 
void getLoggerLastMsg (std::string &msg_str) const
 Fill inputtted string with the contents of the last message in history. More...
 
void loggerReset ()
 Reset the contents of the logger instance. More...
 
void logRegisterCallback (output_logger_callback_t userFunc)
 
bool logDeregisterCallback (output_logger_callback_t userFunc)
 

Member Typedef Documentation

◆ KFArray_ACT

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFArray_ACT = mrpt::math::CVectorFixed<KFTYPE, ACT_SIZE>

Definition at line 256 of file CKalmanFilterCapable.h.

◆ KFArray_FEAT

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFArray_FEAT = mrpt::math::CVectorFixed<KFTYPE, FEAT_SIZE>

Definition at line 259 of file CKalmanFilterCapable.h.

◆ KFArray_OBS

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFArray_OBS = mrpt::math::CVectorFixed<KFTYPE, OBS_SIZE>

Definition at line 257 of file CKalmanFilterCapable.h.

◆ KFArray_VEH

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFArray_VEH = mrpt::math::CVectorFixed<KFTYPE, VEH_SIZE>

Definition at line 255 of file CKalmanFilterCapable.h.

◆ KFCLASS

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFCLASS = CKalmanFilterCapable<VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE>

My class, in a shorter name!

Definition at line 237 of file CKalmanFilterCapable.h.

◆ KFMatrix

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix = mrpt::math::CMatrixDynamic<KFTYPE>

Definition at line 241 of file CKalmanFilterCapable.h.

◆ KFMatrix_AxA

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_AxA = mrpt::math::CMatrixFixed<KFTYPE, ACT_SIZE, ACT_SIZE>

Definition at line 246 of file CKalmanFilterCapable.h.

◆ KFMatrix_FxF

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_FxF = mrpt::math::CMatrixFixed<KFTYPE, FEAT_SIZE, FEAT_SIZE>

Definition at line 245 of file CKalmanFilterCapable.h.

◆ KFMatrix_FxO

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_FxO = mrpt::math::CMatrixFixed<KFTYPE, FEAT_SIZE, OBS_SIZE>

Definition at line 251 of file CKalmanFilterCapable.h.

◆ KFMatrix_FxV

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_FxV = mrpt::math::CMatrixFixed<KFTYPE, FEAT_SIZE, VEH_SIZE>

Definition at line 250 of file CKalmanFilterCapable.h.

◆ KFMatrix_OxF

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_OxF = mrpt::math::CMatrixFixed<KFTYPE, OBS_SIZE, FEAT_SIZE>

Definition at line 252 of file CKalmanFilterCapable.h.

◆ KFMatrix_OxO

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_OxO = mrpt::math::CMatrixFixed<KFTYPE, OBS_SIZE, OBS_SIZE>

Definition at line 244 of file CKalmanFilterCapable.h.

◆ KFMatrix_OxV

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_OxV = mrpt::math::CMatrixFixed<KFTYPE, OBS_SIZE, VEH_SIZE>

Definition at line 253 of file CKalmanFilterCapable.h.

◆ KFMatrix_VxF

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_VxF = mrpt::math::CMatrixFixed<KFTYPE, VEH_SIZE, FEAT_SIZE>

Definition at line 249 of file CKalmanFilterCapable.h.

◆ KFMatrix_VxO

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_VxO = mrpt::math::CMatrixFixed<KFTYPE, VEH_SIZE, OBS_SIZE>

Definition at line 248 of file CKalmanFilterCapable.h.

◆ KFMatrix_VxV

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFMatrix_VxV = mrpt::math::CMatrixFixed<KFTYPE, VEH_SIZE, VEH_SIZE>

Definition at line 243 of file CKalmanFilterCapable.h.

◆ kftype

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::kftype = KFTYPE

The numeric type used in the Kalman Filter (default=double)

Definition at line 234 of file CKalmanFilterCapable.h.

◆ KFVector

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KFVector = mrpt::math::CVectorDynamic<KFTYPE>

Definition at line 240 of file CKalmanFilterCapable.h.

◆ vector_KFArray_OBS

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
using mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::vector_KFArray_OBS = std::vector<KFArray_OBS>

Definition at line 258 of file CKalmanFilterCapable.h.

Constructor & Destructor Documentation

◆ CKalmanFilterCapable()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::CKalmanFilterCapable ( )
inline

Definition at line 589 of file CKalmanFilterCapable.h.

◆ ~CKalmanFilterCapable()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::~CKalmanFilterCapable ( )
overridedefault

Destructor.

Member Function Documentation

◆ dumpLogToConsole()

void COutputLogger::dumpLogToConsole ( ) const
inherited

Dump the current contents of the COutputLogger instance in the terminal window.

See also
writeToFile

Definition at line 190 of file COutputLogger.cpp.

◆ get_action_size()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
static constexpr size_t mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::get_action_size ( )
inlinestatic

Definition at line 227 of file CKalmanFilterCapable.h.

◆ get_feature_size()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
static constexpr size_t mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::get_feature_size ( )
inlinestatic

Definition at line 226 of file CKalmanFilterCapable.h.

◆ get_observation_size()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
static constexpr size_t mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::get_observation_size ( )
inlinestatic

Definition at line 225 of file CKalmanFilterCapable.h.

◆ get_vehicle_size()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
static constexpr size_t mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::get_vehicle_size ( )
inlinestatic

Definition at line 224 of file CKalmanFilterCapable.h.

◆ getLandmarkCov()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getLandmarkCov ( size_t  idx,
KFMatrix_FxF &  feat_cov 
) const
inline

Returns the covariance of the idx'th landmark (not applicable to non-SLAM problems).

Exceptions
std::exceptionOn idx>= getNumberOfLandmarksInTheMap()

Definition at line 279 of file CKalmanFilterCapable.h.

◆ getLandmarkMean()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getLandmarkMean ( size_t  idx,
KFArray_FEAT &  feat 
) const
inline

Returns the mean of the estimated value of the idx'th landmark (not applicable to non-SLAM problems).

Exceptions
std::exceptionOn idx>= getNumberOfLandmarksInTheMap()

Definition at line 268 of file CKalmanFilterCapable.h.

◆ getLogAsString() [1/2]

void COutputLogger::getLogAsString ( std::string &  log_contents) const
inherited

Fill the provided string with the contents of the logger's history in std::string representation.

Definition at line 154 of file COutputLogger.cpp.

◆ getLogAsString() [2/2]

std::string COutputLogger::getLogAsString ( ) const
inherited

Get the history of COutputLogger instance in a string representation.

Definition at line 159 of file COutputLogger.cpp.

Referenced by mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::getDescriptiveReport().

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◆ getLoggerLastMsg() [1/2]

std::string COutputLogger::getLoggerLastMsg ( ) const
inherited

Return the last Tmsg instance registered in the logger history.

Definition at line 195 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::getAsString().

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◆ getLoggerLastMsg() [2/2]

void COutputLogger::getLoggerLastMsg ( std::string &  msg_str) const
inherited

Fill inputtted string with the contents of the last message in history.

Definition at line 201 of file COutputLogger.cpp.

◆ getLoggerName()

std::string COutputLogger::getLoggerName ( ) const
inherited

Return the name of the COutputLogger instance.

See also
setLoggerName

Definition at line 143 of file COutputLogger.cpp.

◆ getMinLoggingLevel()

VerbosityLevel mrpt::system::COutputLogger::getMinLoggingLevel ( ) const
inlineinherited
See also
setMinLoggingLevel

Definition at line 201 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::apps::RawlogGrabberApp::dump_verbose_info(), mrpt::maps::CRandomFieldGridMap2D::isEnabledVerbose(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ getNumberOfLandmarksInTheMap()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
size_t mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getNumberOfLandmarksInTheMap ( ) const
inline

Definition at line 228 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getLandmarkMean(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::OnPreComputingPredictions().

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◆ getProfiler()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
mrpt::system::CTimeLogger& mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getProfiler ( )
inline

Definition at line 596 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::detail::addNewLandmarks().

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◆ getStateVectorLength()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
size_t mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::getStateVectorLength ( ) const
inline

Definition at line 261 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::detail::getNumberOfLandmarksInMap(), and mrpt::bayes::detail::isMapEmpty().

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◆ internal_getPkk()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix& mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::internal_getPkk ( )
inline

Definition at line 263 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::detail::addNewLandmarks().

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◆ internal_getXkk()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFVector& mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::internal_getXkk ( )
inline

Definition at line 262 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::detail::addNewLandmarks().

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◆ isLoggingLevelVisible()

bool mrpt::system::COutputLogger::isLoggingLevelVisible ( VerbosityLevel  level) const
inlineinherited

Definition at line 202 of file system/COutputLogger.h.

References mrpt::system::COutputLogger::m_min_verbosity_level.

Referenced by mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), and mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper().

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◆ isMapEmpty()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
bool mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::isMapEmpty ( ) const
inline

Definition at line 232 of file CKalmanFilterCapable.h.

◆ KF_aux_estimate_obs_Hx_jacobian()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KF_aux_estimate_obs_Hx_jacobian ( const KFArray_VEH &  x,
const std::pair< KFCLASS *, size_t > &  dat,
KFArray_OBS &  out_x 
)
staticprivate

Definition at line 954 of file CKalmanFilterCapable_impl.h.

◆ KF_aux_estimate_obs_Hy_jacobian()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KF_aux_estimate_obs_Hy_jacobian ( const KFArray_FEAT &  x,
const std::pair< KFCLASS *, size_t > &  dat,
KFArray_OBS &  out_x 
)
staticprivate

Definition at line 971 of file CKalmanFilterCapable_impl.h.

◆ KF_aux_estimate_trans_jacobian()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KF_aux_estimate_trans_jacobian ( const KFArray_VEH &  x,
const std::pair< KFCLASS *, KFArray_ACT > &  dat,
KFArray_VEH &  out_x 
)
staticprivate

Auxiliary functions for Jacobian numeric estimation.

Definition at line 941 of file CKalmanFilterCapable_impl.h.

◆ logCond()

void COutputLogger::logCond ( const VerbosityLevel  level,
bool  cond,
const std::string &  msg_str 
) const
inherited

Log the given message only if the condition is satisfied.

See also
log, logFmt

Definition at line 131 of file COutputLogger.cpp.

◆ logDeregisterCallback()

bool COutputLogger::logDeregisterCallback ( output_logger_callback_t  userFunc)
inherited
Returns
true if an entry was found and deleted.

Definition at line 291 of file COutputLogger.cpp.

References getAddress(), and mrpt::system::COutputLogger::m_listCallbacks.

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◆ logFmt()

void COutputLogger::logFmt ( const VerbosityLevel  level,
const char *  fmt,
  ... 
) const
inherited

Alternative logging method, which mimics the printf behavior.

Handy for not having to first use mrpt::format to pass a std::string message to logStr

// instead of:
logStr(mrpt::format("Today is the %d of %s, %d", 15, "July", 2016));
// one can use:
logFmt("Today is the %d of %s, %d", 15, "July", 2016);
See also
logStr, logCond

Definition at line 91 of file COutputLogger.cpp.

Referenced by mrpt::hmtslam::CHMTSLAM::areaAbstraction(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::CICPCriteriaNRD(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), CGraphSlamHandler< GRAPH_T >::execute(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), CGraphSlamHandler< GRAPH_T >::initVisualization(), mrpt::nav::CNavigatorManualSequence::navigationStep(), mrpt::nav::CAbstractNavigator::performNavigationStepNavigating(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), CGraphSlamHandler< GRAPH_T >::saveResults(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::hmtslam::CHMTSLAM::thread_3D_viewer(), mrpt::hmtslam::CHMTSLAM::thread_LSLAM(), mrpt::hmtslam::CHMTSLAM::thread_TBI(), and CGraphSlamHandler< GRAPH_T >::~CGraphSlamHandler().

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◆ loggerReset()

void COutputLogger::loggerReset ( )
inherited

Reset the contents of the logger instance.

Called upon construction.

Definition at line 206 of file COutputLogger.cpp.

References mrpt::system::LVL_INFO.

◆ logging_levels_to_colors()

std::array< mrpt::system::TConsoleColor, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_colors ( )
staticinherited

Map from VerbosityLevels to their corresponding mrpt::system::TConsoleColor.

Handy for coloring the input based on the verbosity of the message

Definition at line 47 of file COutputLogger.cpp.

References logging_levels_to_colors.

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ logging_levels_to_names()

std::array< std::string, NUMBER_OF_VERBOSITY_LEVELS > & COutputLogger::logging_levels_to_names ( )
staticinherited

Map from VerbosityLevels to their corresponding names.

Handy for printing the current message VerbosityLevel along with the actual content

Definition at line 60 of file COutputLogger.cpp.

References logging_levels_to_names.

Referenced by mrpt::system::COutputLogger::TMsg::getAsString().

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◆ logRegisterCallback()

void COutputLogger::logRegisterCallback ( output_logger_callback_t  userFunc)
inherited

Definition at line 278 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::m_listCallbacks.

◆ logStr()

void COutputLogger::logStr ( const VerbosityLevel  level,
std::string_view  msg_str 
) const
inherited

Main method to add the specified message string to the logger.

See also
logCond, logFmt

Definition at line 72 of file COutputLogger.cpp.

References mrpt::system::COutputLogger::TMsg::body, mrpt::system::COutputLogger::TMsg::dumpToConsole(), mrpt::system::COutputLogger::TMsg::level, mrpt::system::COutputLogger::TMsg::name, and mrpt::system::COutputLogger::TMsg::timestamp.

Referenced by mrpt::slam::PF_implementation< mrpt::math::TPose3D, CMonteCarloLocalization3D, mrpt::bayes::particle_storage_mode::VALUE >::PF_SLAM_implementation_pfAuxiliaryPFStandardAndOptimal(), mrpt::nav::CReactiveNavigationSystem::STEP1_InitPTGs(), mrpt::system::COutputLoggerStreamWrapper::~COutputLoggerStreamWrapper(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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◆ OnGetAction()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnGetAction ( KFArray_ACT &  out_u) const
protectedpure virtual

Must return the action vector u.

Parameters
out_uThe action vector which will be passed to OnTransitionModel

◆ OnGetObservationNoise()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnGetObservationNoise ( KFMatrix_OxO &  out_R) const
protectedpure virtual

Return the observation NOISE covariance matrix, that is, the model of the Gaussian additive noise of the sensor.

Parameters
out_RThe noise covariance matrix. It might be non diagonal, but it'll usually be.
Note
Upon call, it can be assumed that the previous contents of out_R are all zeros.

◆ OnGetObservationsAndDataAssociation()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnGetObservationsAndDataAssociation ( vector_KFArray_OBS &  out_z,
std::vector< int > &  out_data_association,
const vector_KFArray_OBS &  in_all_predictions,
const KFMatrix &  in_S,
const std::vector< size_t > &  in_lm_indices_in_S,
const KFMatrix_OxO &  in_R 
)
protectedpure virtual

This is called between the KF prediction step and the update step, and the application must return the observations and, when applicable, the data association between these observations and the current map.

Parameters
out_zN vectors, each for one "observation" of length OBS_SIZE, N being the number of "observations": how many observed landmarks for a map, or just one if not applicable.
out_data_associationAn empty vector or, where applicable, a vector where the i'th element corresponds to the position of the observation in the i'th row of out_z within the system state vector (in the range [0,getNumberOfLandmarksInTheMap()-1]), or -1 if it is a new map element and we want to insert it at the end of this KF iteration.
in_all_predictionsA vector with the prediction of ALL the landmarks in the map. Note that, in contrast, in_S only comprises a subset of all the landmarks.
in_SThe full covariance matrix of the observation predictions (i.e. the "innovation covariance matrix"). This is a M*O x M*O matrix with M=length of "in_lm_indices_in_S".
in_lm_indices_in_SThe indices of the map landmarks (range [0,getNumberOfLandmarksInTheMap()-1]) that can be found in the matrix in_S.

This method will be called just once for each complete KF iteration.

Note
It is assumed that the observations are independent, i.e. there are NO cross-covariances between them.

◆ OnInverseObservationModel() [1/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnInverseObservationModel ( [[maybe_unused] ] const KFArray_OBS &  in_z,
[[maybe_unused] ] KFArray_FEAT &  out_yn,
[[maybe_unused] ] KFMatrix_FxV &  out_dyn_dxv,
[[maybe_unused] ] KFMatrix_FxO &  out_dyn_dhn 
) const
inlinevirtual

If applicable to the given problem, this method implements the inverse observation model needed to extend the "map" with a new "element".

Parameters
in_zThe observation vector whose inverse sensor model is to be computed. This is actually one of the vector<> returned by OnGetObservationsAndDataAssociation().
out_ynThe F-length vector with the inverse observation model $ y_n=y(x,z_n) $.
out_dyn_dxvThe $F \times V$ Jacobian of the inv. sensor model wrt the robot pose $ \frac{\partial y_n}{\partial x_v} $.
out_dyn_dhnThe $F \times O$ Jacobian of the inv. sensor model wrt the observation vector $ \frac{\partial y_n}{\partial h_n} $.
  • O: OBS_SIZE
  • V: VEH_SIZE
  • F: FEAT_SIZE
Note
OnNewLandmarkAddedToMap will be also called after calling this method if a landmark is actually being added to the map.
Deprecated:
This version of the method is deprecated. The alternative method is preferred to allow a greater flexibility.

Definition at line 489 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::detail::addNewLandmarks(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::OnInverseObservationModel().

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◆ OnInverseObservationModel() [2/2]

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnInverseObservationModel ( const KFArray_OBS &  in_z,
KFArray_FEAT &  out_yn,
KFMatrix_FxV &  out_dyn_dxv,
KFMatrix_FxO &  out_dyn_dhn,
[[maybe_unused] ] KFMatrix_FxF &  out_dyn_dhn_R_dyn_dhnT,
bool &  out_use_dyn_dhn_jacobian 
) const
inlinevirtual

If applicable to the given problem, this method implements the inverse observation model needed to extend the "map" with a new "element".

The uncertainty in the new map feature comes from two parts: one from the vehicle uncertainty (through the out_dyn_dxv Jacobian), and another from the uncertainty in the observation itself. By default, out_use_dyn_dhn_jacobian=true on call, and if it's left at "true", the base KalmanFilter class will compute the uncertainty of the landmark relative position from out_dyn_dhn. Only in some problems (e.g. MonoSLAM), it'll be needed for the application to directly return the covariance matrix out_dyn_dhn_R_dyn_dhnT, which is the equivalent to:

$ \frac{\partial y_n}{\partial h_n} R \frac{\partial y_n}{\partial h_n}^\top $.

but may be computed from additional terms, or whatever needed by the user.

Parameters
in_zThe observation vector whose inverse sensor model is to be computed. This is actually one of the vector<> returned by OnGetObservationsAndDataAssociation().
out_ynThe F-length vector with the inverse observation model $ y_n=y(x,z_n) $.
out_dyn_dxvThe $F \times V$ Jacobian of the inv. sensor model wrt the robot pose $ \frac{\partial y_n}{\partial x_v} $.
out_dyn_dhnThe $F \times O$ Jacobian of the inv. sensor model wrt the observation vector $ \frac{\partial y_n}{\partial h_n} $.
out_dyn_dhn_R_dyn_dhnTSee the discussion above.
  • O: OBS_SIZE
  • V: VEH_SIZE
  • F: FEAT_SIZE
Note
OnNewLandmarkAddedToMap will be also called after calling this method if a landmark is actually being added to the map.

Definition at line 540 of file CKalmanFilterCapable.h.

◆ OnNewLandmarkAddedToMap()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnNewLandmarkAddedToMap ( [[maybe_unused] ] const size_t  in_obsIdx,
[[maybe_unused] ] const size_t  in_idxNewFeat 
)
inlinevirtual

If applicable to the given problem, do here any special handling of adding a new landmark to the map.

Parameters
in_obsIndexThe index of the observation whose inverse sensor is to be computed. It corresponds to the row in in_z where the observation can be found.
in_idxNewFeatThe index that this new feature will have in the state vector (0:just after the vehicle state, 1: after that,...). Save this number so data association can be done according to these indices.
See also
OnInverseObservationModel

Definition at line 562 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::detail::addNewLandmarks().

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◆ OnNormalizeStateVector()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnNormalizeStateVector ( )
inlinevirtual

This method is called after the prediction and after the update, to give the user an opportunity to normalize the state vector (eg, keep angles within -pi,pi range) if the application requires it.

Reimplemented in mrpt::slam::CRangeBearingKFSLAM, and mrpt::slam::CRangeBearingKFSLAM2D.

Definition at line 573 of file CKalmanFilterCapable.h.

◆ OnObservationJacobians()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnObservationJacobians ( [[maybe_unused] ] size_t  idx_landmark_to_predict,
[[maybe_unused] ] KFMatrix_OxV &  Hx,
[[maybe_unused] ] KFMatrix_OxF &  Hy 
) const
inlineprotectedvirtual

Implements the observation Jacobians $ \frac{\partial h_i}{\partial x} $ and (when applicable) $ \frac{\partial h_i}{\partial y_i} $.

Parameters
idx_landmark_to_predictThe index of the landmark in the map whose prediction is expected as output. For non SLAM-like problems, this will be zero and the expected output is for the whole state vector.
HxThe output Jacobian $ \frac{\partial h_i}{\partial x} $.
HyThe output Jacobian $ \frac{\partial h_i}{\partial y_i} $.

Definition at line 437 of file CKalmanFilterCapable.h.

◆ OnObservationJacobiansNumericGetIncrements()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnObservationJacobiansNumericGetIncrements ( KFArray_VEH &  out_veh_increments,
KFArray_FEAT &  out_feat_increments 
) const
inlineprotectedvirtual

Only called if using a numeric approximation of the observation Jacobians, this method must return the increments in each dimension of the vehicle state vector while estimating the Jacobian.

Definition at line 449 of file CKalmanFilterCapable.h.

◆ OnObservationModel()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnObservationModel ( const std::vector< size_t > &  idx_landmarks_to_predict,
vector_KFArray_OBS &  out_predictions 
) const
protectedpure virtual

Implements the observation prediction $ h_i(x) $.

Parameters
idx_landmark_to_predictThe indices of the landmarks in the map whose predictions are expected as output. For non SLAM-like problems, this input value is undefined and the application should just generate one observation for the given problem.
out_predictionsThe predicted observations.

◆ OnPostIteration()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnPostIteration ( )
inlinevirtual

This method is called after finishing one KF iteration and before returning from runOneKalmanIteration().

Definition at line 581 of file CKalmanFilterCapable.h.

◆ OnPreComputingPredictions()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnPreComputingPredictions ( [[maybe_unused] ] const vector_KFArray_OBS &  in_all_prediction_means,
std::vector< size_t > &  out_LM_indices_to_predict 
) const
inlineprotectedvirtual

This will be called before OnGetObservationsAndDataAssociation to allow the application to reduce the number of covariance landmark predictions to be made.

For example, features which are known to be "out of sight" shouldn't be added to the output list to speed up the calculations.

Parameters
in_all_prediction_meansThe mean of each landmark predictions; the computation or not of the corresponding covariances is what we're trying to determined with this method.
out_LM_indices_to_predictThe list of landmark indices in the map [0,getNumberOfLandmarksInTheMap()-1] that should be predicted.
Note
This is not a pure virtual method, so it should be implemented only if desired. The default implementation returns a vector with all the landmarks in the map.
See also
OnGetObservations, OnDataAssociation

Definition at line 366 of file CKalmanFilterCapable.h.

◆ OnSubstractObservationVectors()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnSubstractObservationVectors ( KFArray_OBS &  A,
const KFArray_OBS &  B 
) const
inlineprotectedvirtual

Computes A=A-B, which may need to be re-implemented depending on the topology of the individual scalar components (eg, angles).

Definition at line 460 of file CKalmanFilterCapable.h.

◆ OnTransitionJacobian()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnTransitionJacobian ( [ [maybe_unused] ] KFMatrix_VxV &  out_F) const
inlineprotectedvirtual

Implements the transition Jacobian $ \frac{\partial f}{\partial x} $.

Parameters
out_FMust return the Jacobian. The returned matrix must be $V \times V$ with V being either the size of the whole state vector (for non-SLAM problems) or VEH_SIZE (for SLAM problems).

Definition at line 328 of file CKalmanFilterCapable.h.

◆ OnTransitionJacobianNumericGetIncrements()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnTransitionJacobianNumericGetIncrements ( KFArray_VEH &  out_increments) const
inlineprotectedvirtual

Only called if using a numeric approximation of the transition Jacobian, this method must return the increments in each dimension of the vehicle state vector while estimating the Jacobian.

Definition at line 338 of file CKalmanFilterCapable.h.

◆ OnTransitionModel()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnTransitionModel ( const KFArray_ACT &  in_u,
KFArray_VEH &  inout_x,
bool &  out_skipPrediction 
) const
protectedpure virtual

Implements the transition model $ \hat{x}_{k|k-1} = f( \hat{x}_{k-1|k-1}, u_k ) $.

Parameters
in_uThe vector returned by OnGetAction.
inout_xAt input has

\[ \hat{x}_{k-1|k-1} \]

, at output must have $ \hat{x}_{k|k-1} $ .
out_skipSet this to true if for some reason you want to skip the prediction step (to do not modify either the vector or the covariance). Default:false
Note
Even if you return "out_skip=true", the value of "inout_x" MUST be updated as usual (this is to allow numeric approximation of Jacobians).

◆ OnTransitionNoise()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
virtual void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::OnTransitionNoise ( KFMatrix_VxV &  out_Q) const
protectedpure virtual

Implements the transition noise covariance $ Q_k $.

Parameters
out_QMust return the covariance matrix. The returned matrix must be of the same size than the jacobian from OnTransitionJacobian

◆ runOneKalmanIteration()

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE >
void mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::runOneKalmanIteration ( )
protected

The main entry point, executes one complete step: prediction + update.

It is protected since derived classes must provide a problem-specific entry point for users. The exact order in which this method calls the virtual method is explained in https://www.mrpt.org/Kalman_Filters

Definition at line 28 of file CKalmanFilterCapable_impl.h.

◆ setLoggerName()

void COutputLogger::setLoggerName ( const std::string &  name)
inherited

Set the name of the COutputLogger instance.

See also
getLoggerName

Definition at line 138 of file COutputLogger.cpp.

Referenced by mrpt::slam::CMetricMapBuilderICP::CMetricMapBuilderICP(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::slam::CMonteCarloLocalization2D::CMonteCarloLocalization2D(), mrpt::slam::CMonteCarloLocalization3D::CMonteCarloLocalization3D(), mrpt::apps::ICP_SLAM_App_Base::ICP_SLAM_App_Base(), mrpt::apps::ICP_SLAM_App_Live::ICP_SLAM_App_Live(), mrpt::apps::ICP_SLAM_App_Rawlog::ICP_SLAM_App_Rawlog(), mrpt::graphslam::CWindowManager::initCWindowManager(), mrpt::apps::MonteCarloLocalization_Base::MonteCarloLocalization_Base(), mrpt::apps::RBPF_SLAM_App_Base::RBPF_SLAM_App_Base(), and mrpt::apps::RBPF_SLAM_App_Rawlog::RBPF_SLAM_App_Rawlog().

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◆ setMinLoggingLevel()

void COutputLogger::setMinLoggingLevel ( const VerbosityLevel  level)
inherited

Set the minimum logging level for which the incoming logs are going to be taken into account.

String messages with specified VerbosityLevel smaller than the min, will not be outputted to the screen and neither will a record of them be stored in by the COutputLogger instance

Definition at line 144 of file COutputLogger.cpp.

Referenced by mrpt::maps::CRandomFieldGridMap2D::enableVerbose(), mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::graphslam::deciders::CICPCriteriaNRD< GRAPH_T >::loadParams(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ setVerbosityLevel()

void COutputLogger::setVerbosityLevel ( const VerbosityLevel  level)
inherited

alias of setMinLoggingLevel()

Definition at line 149 of file COutputLogger.cpp.

Referenced by mrpt::nav::CAbstractNavigator::CAbstractNavigator(), mrpt::slam::CMetricMapBuilderRBPF::CMetricMapBuilderRBPF(), mrpt::comms::CServerTCPSocket::CServerTCPSocket(), mrpt::slam::CMetricMapBuilderRBPF::processActionObservation(), mrpt::math::ransac_detect_2D_lines(), and mrpt::apps::ICP_SLAM_App_Base::run().

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◆ writeLogToFile()

void COutputLogger::writeLogToFile ( const std::string *  fname_in = nullptr) const
inherited

Write the contents of the COutputLogger instance to an external file.

Upon call to this method, COutputLogger dumps the contents of all the logged commands so far to the specified external file. By default the filename is set to ${LOGGERNAME}.log except if the fname parameter is provided

See also
dumpToConsole, getAsString

Definition at line 165 of file COutputLogger.cpp.

References ASSERTMSG_, and mrpt::format().

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Friends And Related Function Documentation

◆ detail::addNewLandmarks

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
template<size_t VEH_SIZEb, size_t OBS_SIZEb, size_t FEAT_SIZEb, size_t ACT_SIZEb, typename KFTYPEb >
void detail::addNewLandmarks ( CKalmanFilterCapable< VEH_SIZEb, OBS_SIZEb, FEAT_SIZEb, ACT_SIZEb, KFTYPEb > &  obj,
const typename CKalmanFilterCapable< VEH_SIZEb, OBS_SIZEb, FEAT_SIZEb, ACT_SIZEb, KFTYPEb >::vector_KFArray_OBS &  Z,
const std::vector< int > &  data_association,
const typename CKalmanFilterCapable< VEH_SIZEb, OBS_SIZEb, FEAT_SIZEb, ACT_SIZEb, KFTYPEb >::KFMatrix_OxO &  R 
)
friend

Member Data Documentation

◆ KF_options

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
TKF_options mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::KF_options

Generic options for the Kalman Filter algorithm itself.

Definition at line 598 of file CKalmanFilterCapable.h.

◆ logging_enable_console_output

bool mrpt::system::COutputLogger::logging_enable_console_output {true}
inherited

[Default=true] Set it to false in case you don't want the logged messages to be dumped to the output automatically.

Definition at line 240 of file system/COutputLogger.h.

◆ logging_enable_keep_record

bool mrpt::system::COutputLogger::logging_enable_keep_record {false}
inherited

[Default=false] Enables storing all messages into an internal list.

See also
writeLogToFile, getLogAsString

Definition at line 243 of file system/COutputLogger.h.

◆ m_all_predictions

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
vector_KFArray_OBS mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_all_predictions
private

Definition at line 604 of file CKalmanFilterCapable.h.

◆ m_aux_K_dh_dx

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_aux_K_dh_dx
private

Definition at line 615 of file CKalmanFilterCapable.h.

◆ m_dh_dx_full_obs

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_dh_dx_full_obs
private

Definition at line 614 of file CKalmanFilterCapable.h.

◆ m_Hxs

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
std::vector<KFMatrix_OxV> mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_Hxs
private

The vector of all partial Jacobians dh[i]_dx for each prediction.

Definition at line 607 of file CKalmanFilterCapable.h.

◆ m_Hys

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
std::vector<KFMatrix_OxF> mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_Hys
private

The vector of all partial Jacobians dh[i]_dy[i] for each prediction.

Definition at line 609 of file CKalmanFilterCapable.h.

◆ m_K

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_K
private

Definition at line 612 of file CKalmanFilterCapable.h.

◆ m_min_verbosity_level

VerbosityLevel mrpt::system::COutputLogger::m_min_verbosity_level {LVL_INFO}
protectedinherited

Provided messages with VerbosityLevel smaller than this value shall be ignored.

Definition at line 253 of file system/COutputLogger.h.

Referenced by mrpt::system::COutputLogger::getMinLoggingLevel(), and mrpt::system::COutputLogger::isLoggingLevelVisible().

◆ m_pkk

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_pkk
protected

The system full covariance matrix.

Definition at line 292 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getLandmarkCov(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::internal_getPkk().

◆ m_predictLMidxs

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
std::vector<size_t> mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_predictLMidxs
private

Definition at line 605 of file CKalmanFilterCapable.h.

◆ m_S

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_S
private

Definition at line 610 of file CKalmanFilterCapable.h.

◆ m_S_1

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFMatrix mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_S_1
private

Definition at line 613 of file CKalmanFilterCapable.h.

◆ m_timLogger

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
mrpt::system::CTimeLogger mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_timLogger
protected

Definition at line 296 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getProfiler().

◆ m_user_didnt_implement_jacobian

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
bool mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_user_didnt_implement_jacobian {true}
mutableprivate

Definition at line 627 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::OnObservationJacobians(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::OnTransitionJacobian().

◆ m_xkk

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
KFVector mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_xkk
protected

The system state vector.

Definition at line 290 of file CKalmanFilterCapable.h.

Referenced by mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getLandmarkMean(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getStateVectorLength(), and mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::internal_getXkk().

◆ m_Z

template<size_t VEH_SIZE, size_t OBS_SIZE, size_t FEAT_SIZE, size_t ACT_SIZE, typename KFTYPE = double>
vector_KFArray_OBS mrpt::bayes::CKalmanFilterCapable< VEH_SIZE, OBS_SIZE, FEAT_SIZE, ACT_SIZE, KFTYPE >::m_Z
private

Definition at line 611 of file CKalmanFilterCapable.h.



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