KFMeasEntry Struct Reference

Object to hold an individual measurement. More...

Detailed Description

Object to hold an individual measurement.

Includes the measurement itself, (or its innovation) and design matrix entries Adding design matrix entries for states that do not yet exist will create and add new states to the measurement's kalman filter object.

Collaboration diagram for KFMeasEntry:

Public Member Functions
	KFMeasEntry (KFState *kfState_ptr, KFKey obsKey={})
	KFMeasEntry (const KFState *constKfState_ptr, KFKey obsKey={})
	KFMeasEntry ()
void	addNoiseEntry (const KFKey kfKey, const double value, const double variance)
	Adds a noise element for this measurement.
void	addDsgnEntry (const KFKey &kfKey, const double value, const InitialState &initialState={})
	Adds a design matrix entry for this measurement.
void	setNoise (const double value)
	Adds the measurement noise entry for this measurement.
void	setValue (const double value)
	Adds the actual measurement value for this measurement.
void	setInnov (const double value)
	Adds the innovation value for this measurement.

Data Fields
KFState *	kfState_ptr = nullptr
	Pointer to filter object that measurements are referencing.
const KFState *	constKfState_ptr = nullptr
	Pointer to filter object that measurements are referencing.
double	valid = true
	Optional parameter to invalidate a measurement (to avoid needing to delete it and reshuffle a vector)
double	value = 0
	Value of measurement (for linear systems)
double	noise = 0
	Noise of measurement.
double	innov = 0
	Innovation of measurement (for non-linear systems)
KFKey	obsKey = {}
	Optional labels to be used in output traces.
map< E_Component, ComponentsDetails >	componentsMap
map< KFKey, double >	noiseElementMap
map< KFKey, double >	designEntryMap
map< KFKey, double >	usedValueMap
map< KFKey, double >	noiseEntryMap
map< string, void * >	metaDataMap

Constructor & Destructor Documentation

KFMeasEntry() [1/3]

KFMeasEntry::KFMeasEntry ( KFState * kfState_ptr, KFKey obsKey = {} )

inline

KFMeasEntry() [2/3]

KFMeasEntry::KFMeasEntry ( const KFState * constKfState_ptr, KFKey obsKey = {} )

inline

KFMeasEntry() [3/3]

KFMeasEntry::KFMeasEntry ( )

inline

Member Function Documentation

addDsgnEntry()

void KFMeasEntry::addDsgnEntry ( const KFKey & kfKey, const double value, const InitialState & initialState = {} )

inline

Adds a design matrix entry for this measurement.

Parameters

kfKey	Key to determine which state parameter is affected
value	Design matrix entry value
initialState	Initial conditions for new states

Here is the caller graph for this function:

addNoiseEntry()

void KFMeasEntry::addNoiseEntry ( const KFKey kfKey, const double value, const double variance )

inline

Adds a noise element for this measurement.

Parameters

kfKey	Key to determine the origin of the noise
value	Noise entry matrix entry value
variance	Variance of noise element

Here is the caller graph for this function:

setInnov()

void KFMeasEntry::setInnov ( const double value )

inline

Adds the innovation value for this measurement.

Parameters

value

Innovation entry value

Here is the caller graph for this function:

setNoise()

void KFMeasEntry::setNoise ( const double value )

inline

Adds the measurement noise entry for this measurement.

Parameters

value

Measurement noise matrix entry value

Here is the caller graph for this function:

setValue()

void KFMeasEntry::setValue ( const double value )

inline

Adds the actual measurement value for this measurement.

Parameters

value

Actual measurement entry value

Here is the caller graph for this function:

Field Documentation

componentsMap

map<E_Component, ComponentsDetails> KFMeasEntry::componentsMap

constKfState_ptr

const KFState* KFMeasEntry::constKfState_ptr = nullptr

Pointer to filter object that measurements are referencing.

designEntryMap

map<KFKey, double> KFMeasEntry::designEntryMap

innov

double KFMeasEntry::innov = 0

Innovation of measurement (for non-linear systems)

kfState_ptr

KFState* KFMeasEntry::kfState_ptr = nullptr

Pointer to filter object that measurements are referencing.

metaDataMap

map<string, void*> KFMeasEntry::metaDataMap

noise

double KFMeasEntry::noise = 0

Noise of measurement.

noiseElementMap

map<KFKey, double> KFMeasEntry::noiseElementMap

noiseEntryMap

map<KFKey, double> KFMeasEntry::noiseEntryMap

obsKey

KFKey KFMeasEntry::obsKey = {}

Optional labels to be used in output traces.

usedValueMap

map<KFKey, double> KFMeasEntry::usedValueMap

valid

double KFMeasEntry::valid = true

Optional parameter to invalidate a measurement (to avoid needing to delete it and reshuffle a vector)

value

double KFMeasEntry::value = 0

Value of measurement (for linear systems)

---

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

• /ginan/src/cpp/common/algebra.hpp