This constructor should not be used if applicable. If used, the main constructor has to be called afterwards, before using this class, otherwise the LKF object is invalid (not initialized).
Applies the correction (update, measurement, data) step of the Kalman filter.
This method applies the linear Kalman filter correction step to the state and covariance passed in sc using a measurement in the form of a line direcition vector, a point on the line and a perpendicular variance. The updated state and covariance after the correction step is returned.
Parameters
sc
The state and covariance to which the correction step is to be applied.
line_origin
A point lying on the measurement line
line_direction
A vector defining the span of the measurement line
line_variance
Variance defining the uncertainty of the measured state in the direction perpendicular to the measurement line. The uncertainty in the parallel direciton is assumed to be infinite for this case of DKF.
Returns
The state and covariance after the correction update.
Applies the correction (update, measurement, data) step of the Kalman filter.
This method applies the linear Kalman filter correction step to the state and covariance passed in sc using a measurement in the form of a plane normal vector, a point on the plane and a perpendicular variance. The updated state and covariance after the correction step is returned.
Parameters
sc
The state and covariance to which the correction step is to be applied.
plane_origin
A point lying on the measurement plane
plane_normal
The normal vector of the measurement plane
plane_variance
Variance defining the uncertainty of the measured state in the direction perpendicular to the measurement plane. The uncertainty in the span of the plane is assumed to be infinite for this case of DKF.
Returns
The state and covariance after the correction update.
The documentation for this class was generated from the following file: