rtsSmoothing.hpp File Reference

Data Structures
struct	RtsConfiguration
	Configuration interface for RTS processing to support dependency injection. More...
struct	FilterData
	Structure to encapsulate all filter data objects read from binary files. More...
class	RtsFileReader
	Reader class for RTS binary file data following SOLID principles. More...
class	RtsProcessor
	Processor class for RTS computation and output following SOLID principles. More...
class	RtsTimingLogger
	Timing and logging handler for RTS processing. More...
class	RtsOutputFileReader
	Output reader class for reading smoothed results from backward file. More...
class	RtsOutputProcessor
	Output processor class for handling RTS output operations. More...

Functions
void	rtsSmoothing (KFState &kfState, ReceiverMap &receiverMap, bool write=false, const RtsConfiguration *config=nullptr)
	Iterate over stored filter states in reverse and perform filtering.
void	rtsOutput (KFState &kfState, ReceiverMap &receiverMap, const RtsConfiguration *config=nullptr)
	Output filter states in chronological order from a reversed binary trace file.

Function Documentation

rtsOutput()

void rtsOutput	(	KFState &	kfState,
		ReceiverMap &	receiverMap,
		const RtsConfiguration *	config = nullptr )

Output filter states in chronological order from a reversed binary trace file.

Parameters

kfState	State to get filter traces from
receiverMap	map of receivers
config	Configuration for dependency injection

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rtsSmoothing()

void rtsSmoothing	(	KFState &	kfState,
		ReceiverMap &	receiverMap,
		bool	write,
		const RtsConfiguration *	config )

Iterate over stored filter states in reverse and perform filtering.

Saves filtered states to a secondary binary file, which is in reverse-chronological order due to the save sequence. Most serial objects that are processed are merely stored or accumulated as prerequisites for the FILTER_PLUS object, which contains the state of the filter immediately after the update step. At that stage, the previously smoothed (next chronologically) filter state is combined with the next filter minus state (immediately before the next chronological update step), any state transitions, and the filter plus state, using the standard rts algorithm. The filtered state and a measurements object which has updated residuals are then stored in a binary file. If intermediate outputs are enabled (rare) it performs some outputs using each filter state, but typically outputs all states chronologically after the reverse running rts procedure has reached the first epoch and all data is available for output in the correct sequence.

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