autoware::prediction::WienerNoise< StateT > Class Template Reference

A class that describes the Wiener process noise. More...

#include <wiener_noise.hpp>

Inheritance diagram for autoware::prediction::WienerNoise< StateT >:

Collaboration diagram for autoware::prediction::WienerNoise< StateT >:

Public Types
using	State = StateT

Public Member Functions
	WienerNoise (const std::array< typename State::Scalar, State::size()> &acceleration_variances)
	Constructor from acceleration variances. More...
Public Member Functions inherited from autoware::prediction::NoiseInterface< Derived >
auto	covariance (const std::chrono::nanoseconds &dt) const
	Get a covariance matrix for this noise model. More...

Protected Member Functions
State::Matrix	crtp_covariance (const std::chrono::nanoseconds &) const
	A CRTP-called covariance getter. More...
template<>
KALMAN_FILTER_PUBLIC state::ConstAccelerationXY::Matrix	crtp_covariance (const std::chrono::nanoseconds &dt) const
	A specialization of covariance matrix computation for ConstAccelerationXY state. More...
template<>
KALMAN_FILTER_PUBLIC state::ConstAccelerationXYYaw::Matrix	crtp_covariance (const std::chrono::nanoseconds &dt) const
	A specialization of covariance matrix computation for ConstAccelerationXYYaw state. More...
template<>
state::ConstAccelerationXYYaw::Matrix	crtp_covariance (const std::chrono::nanoseconds &dt) const
template<>
state::ConstAccelerationXY::Matrix	crtp_covariance (const std::chrono::nanoseconds &dt) const

Protected Attributes
friend	NoiseInterface< WienerNoise< StateT > >

Detailed Description

template<typename StateT>
class autoware::prediction::WienerNoise< StateT >

A class that describes the Wiener process noise.

For more details see notebook here: https://nbviewer.jupyter.org/github/rlabbe/Kalman-and-Bayesian-Filters-in-Python/ blob/master/07-Kalman-Filter-Math.ipynb%23Piecewise-White-Noise-Model (combine into one line)

Template Parameters

StateT

A given state type.

Member Typedef Documentation

State

template<typename StateT >

using autoware::prediction::WienerNoise< StateT >::State = StateT

Constructor & Destructor Documentation

WienerNoise()

template<typename StateT >

autoware::prediction::WienerNoise< StateT >::WienerNoise ( const std::array< typename State::Scalar, State::size()> &  acceleration_variances )

inlineexplicit

Constructor from acceleration variances.

Parameters

[in]

acceleration_variances

The acceleration variances, note that these are sigmas, not sigmas squared.

Member Function Documentation

crtp_covariance() [1/5]

template<>

state::ConstAccelerationXYYaw::Matrix autoware::prediction::WienerNoise< state::ConstAccelerationXYYaw >::crtp_covariance ( const std::chrono::nanoseconds &  dt ) const

protected

crtp_covariance() [2/5]

template<>

state::ConstAccelerationXY::Matrix autoware::prediction::WienerNoise< state::ConstAccelerationXY >::crtp_covariance ( const std::chrono::nanoseconds &  dt ) const

protected

crtp_covariance() [3/5]

template<typename StateT >

State::Matrix autoware::prediction::WienerNoise< StateT >::crtp_covariance ( const std::chrono::nanoseconds &  ) const

inlineprotected

A CRTP-called covariance getter.

Returns

A covariance of the noise process over given time.

crtp_covariance() [4/5]

template<>

KALMAN_FILTER_PUBLIC state::ConstAccelerationXY::Matrix autoware::prediction::WienerNoise< state::ConstAccelerationXY >::crtp_covariance ( const std::chrono::nanoseconds &  dt ) const

protected

A specialization of covariance matrix computation for ConstAccelerationXY state.

Parameters

[in]

dt

Time step.

Returns

Covariance matrix.

crtp_covariance() [5/5]

template<>

KALMAN_FILTER_PUBLIC state::ConstAccelerationXYYaw::Matrix autoware::prediction::WienerNoise< state::ConstAccelerationXYYaw >::crtp_covariance ( const std::chrono::nanoseconds &  dt ) const

protected

A specialization of covariance matrix computation for ConstAccelerationXYYaw state.

Parameters

[in]

dt

Time step.

Returns

Covariance matrix.

Member Data Documentation

NoiseInterface< WienerNoise< StateT > >

template<typename StateT >

friend autoware::prediction::WienerNoise< StateT >::NoiseInterface< WienerNoise< StateT > >

protected

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

• wiener_noise.hpp