KFMeas Struct Reference

Object to hold measurements, design matrices, and residuals for multiple observations. More...

Detailed Description

Object to hold measurements, design matrices, and residuals for multiple observations.

Collaboration diagram for KFMeas:

Public Member Functions
	KFMeas ()
	KFMeas (KFMeas &kfMeas, vector< Triplet< double > > &&triplets, vector< KFKey > &&obsKeys, vector< map< string, void * > > &&metaDataMaps)
	KFMeas (KFState &kfState, KFMeasEntryList &kfEntryList, GTime measTime=GTime::noTime(), MatrixXd *noiseMatrix_ptr=nullptr)
	Combine a list of KFMeasEntrys into a single KFMeas object for used in the filter.
int	getNoiseIndex (const KFKey &key) const
	Finds the position in the noise vector of particular noise elements.
template<class ARCHIVE >
void	serialize (ARCHIVE &ar, const unsigned int &version)

Data Fields
GTime	time = GTime::noTime()
	Epoch these measurements were recorded.
VectorXd	Y
	Value of the observations (for linear systems)
VectorXd	V
	Prefit Residual of the observations (for non-linear systems)
VectorXd	VV
	Postfit Residual of the observations (for non-linear systems)
VectorXd	W
	Weight (inverse of noise) used in least squares.
MatrixXd	R
	Measurement noise for these observations.
MatrixXd	H
	Design matrix between measurements and state.
MatrixXd	H_star
	Design matrix between measurements and noise states.
VectorXd	uncorrelatedNoise
	Uncorellated noise for measurements.
map< KFKey, int >	noiseIndexMap
	Map from key to indexes of parameters in the noise vector.
vector< KFKey >	obsKeys
	Vector of optional labels for reporting when measurements are removed etc.
vector< map< string, void * > >	metaDataMaps
vector< map< E_Component, ComponentsDetails > >	componentsMaps

Constructor & Destructor Documentation

KFMeas() [1/3]

KFMeas::KFMeas ( )

inline

KFMeas() [2/3]

KFMeas::KFMeas ( KFMeas & kfMeas, vector< Triplet< double > > && triplets, vector< KFKey > && obsKeys, vector< map< string, void * > > && metaDataMaps )

inline

Parameters

kfMeas	Measurement to form linear combination from
triplets	Linear combination triplets
obsKeys	New obs key vector
metaDataMaps	Optional new metadata vector

KFMeas() [3/3]

KFMeas::KFMeas	(	KFState &	kfState,
		KFMeasEntryList &	kfEntryList,
		GTime	measTime = GTime::noTime(),
		MatrixXd *	noiseMatrix_ptr = nullptr )

Combine a list of KFMeasEntrys into a single KFMeas object for used in the filter.

Parameters

kfState	Filter state to correspond to
kfEntryList	List of input measurements as lists of entries
measTime	Time to use for measurements and hence state transitions
noiseMatrix_ptr	Optional pointer to use custom noise matrix

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Member Function Documentation

getNoiseIndex()

int KFMeas::getNoiseIndex

(

const KFKey &

key

)

const

Finds the position in the noise vector of particular noise elements.

Parameters

key	Key to search for in noise vector

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serialize()

template<class ARCHIVE >

void KFMeas::serialize ( ARCHIVE & ar, const unsigned int & version )

inline

Field Documentation

componentsMaps

vector<map<E_Component, ComponentsDetails> > KFMeas::componentsMaps

H

MatrixXd KFMeas::H

Design matrix between measurements and state.

H_star

MatrixXd KFMeas::H_star

Design matrix between measurements and noise states.

metaDataMaps

vector<map<string, void*> > KFMeas::metaDataMaps

noiseIndexMap

map<KFKey, int> KFMeas::noiseIndexMap

Map from key to indexes of parameters in the noise vector.

obsKeys

vector<KFKey> KFMeas::obsKeys

Vector of optional labels for reporting when measurements are removed etc.

R

MatrixXd KFMeas::R

Measurement noise for these observations.

time

GTime KFMeas::time = GTime::noTime()

Epoch these measurements were recorded.

uncorrelatedNoise

VectorXd KFMeas::uncorrelatedNoise

Uncorellated noise for measurements.

V

VectorXd KFMeas::V

Prefit Residual of the observations (for non-linear systems)

VV

VectorXd KFMeas::VV

Postfit Residual of the observations (for non-linear systems)

W

VectorXd KFMeas::W

Weight (inverse of noise) used in least squares.

Y

VectorXd KFMeas::Y

Value of the observations (for linear systems)

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The documentation for this struct was generated from the following files:

• /ginan/src/cpp/common/algebra.hpp
• /ginan/src/cpp/common/algebra.cpp