Filter Class Template Reference

List of all members.

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Detailed Description

template<class T = unsigned int, class P = indii::ml::aux::GaussianPdf>
class indii::ml::filter::Filter< T, P >

Abstract filter.

Author:

Lawrence Murray <lawrence@indii.org>

Version:

Rev

Date:

Date

Parameters:

	T	The type of time.
	P	The type of probability distribution used to represent the system state.

See also:

indii::ml::filter for general usage guidelines.

Definition at line 24 of file Filter.hpp.

Public Member Functions
	Filter (const P &p_x0)
	Constructor.
virtual	~Filter ()
	Destructor.
T	getTime () const
	Get the current time.
void	setTime (const T tn)
	Set the current time.
P &	getFilteredState ()
	Get filter density.
void	setFilteredState (const P &p_xtn_ytn)
	Set the filter density.
virtual void	filter (const T tnp1, const indii::ml::aux::vector &ytnp1)=0
	Advance system to time of next measurement.
virtual P	measure ()=0
	Apply the measurement function to the current filtered state to obtain an estimated measurement.
Protected Attributes
T	tn
	; the current time.
P	p_xtn_ytn
	; the filter density at the current time.

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Constructor & Destructor Documentation

Filter

(

const P &

p_x0

)

[inline]

Constructor.

Parameters:

p_x0

; prior over the initial state .

Definition at line 107 of file Filter.hpp.

~Filter

(

)

[inline, virtual]

Destructor.

Definition at line 112 of file Filter.hpp.

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Member Function Documentation

T getTime

(

)

const [inline]

Get the current time.

Returns:

; the current time.

Definition at line 117 of file Filter.hpp.

void setTime

(

const T

tn

)

[inline]

Set the current time.

Parameters:

tn

; the current time.

Definition at line 122 of file Filter.hpp.

P & getFilteredState

(

)

[inline]

Get filter density.

Returns:

; the filter density at the current time.

Definition at line 127 of file Filter.hpp.

void setFilteredState

(

const P &

p_xtn_ytn

)

[inline]

Set the filter density.

Returns:

; the filter density at the current time.

Definition at line 132 of file Filter.hpp.

virtual void filter	(	const T	tnp1,
		const indii::ml::aux::vector &	ytnp1
	)			[pure virtual]

Advance system to time of next measurement.

Parameters:

	tnp1	; the time to which to advance the system. This must be greater than the current time .
	ytnp1	; measurement at time .

Implemented in KalmanFilter, ParticleFilter, and UnscentedKalmanFilter.

virtual P measure

(

)

[pure virtual]

Apply the measurement function to the current filtered state to obtain an estimated measurement.

Returns:

The estimated measurement.

Implemented in KalmanFilter, ParticleFilter, and UnscentedKalmanFilter.

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Member Data Documentation

T tn [protected]

; the current time.

For internal use only.

Definition at line 92 of file Filter.hpp.

P p_xtn_ytn [protected]

; the filter density at the current time.

Definition at line 98 of file Filter.hpp.

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