KalmanSmootherHarness.cpp File Reference

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Detailed Description

Basic test of KalmanSmoother.

This test sets up a linear model for testing the Kalman two-filter smoother implementation. It may be validated against the Rauch-Tung-Striebel (RTS) smoother and Kalman filter results.

Results are output into files as follows:

results/KalmanSmootherHarness_actual.out

Actual state of the robot at each time. Columns are as follows:

• time
• x coordinate
• y coordinate
• orientation (radians)

results/KalmanSmootherHarness_meas.out

Measurement at each time step. Columns are as follows:

• time
• measurement

results/KalmanSmootherHarness_filter.out

Predicted stateKS (filtered) at each time step. Columns are as follows:

• time
• mean x coordinate
• mean y coordinate
• mean orientation
• The remaining columns give the covariance matrix between the above state variables.

results/KalmanSmootherHarness_smooth.out

Predicted state (smoothed) at each time step. Columns are as follows:

• time
• mean x coordinate
• mean y coordinate
• mean orientation
• The remaining columns give the covariance matrix between the above state variables.

Note that as the smoothing is performed in a backwards pass, this file has entries in reverse time order.

Results

Results are as follows:

Results

Definition in file KalmanSmootherHarness.cpp.

Go to the source code of this file.

Defines
#define	STATE_SIZE   5
#define	MEAS_SIZE   1
#define	ACTUAL_SIZE   3
#define	STEPS   100
Functions
int	main (int argc, const char *argv)
	Run tests.

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Function Documentation

int main	(	int	argc,
		const char *	argv
	)

Run tests.

Definition at line 90 of file KalmanSmootherHarness.cpp.

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