Package lejos.utility

Class KalmanFilter

java.lang.Object

lejos.utility.KalmanFilter

public class KalmanFilter
extends java.lang.Object

Implementation of a Kalman filter using the Matrix class

Field Summary

Fields

Modifier and Type	Field and Description
private Matrix	a
private Matrix	at
private Matrix	b
private Matrix	c
private Matrix	ct
private Matrix	gain
private Matrix	i
private Matrix	mu
private Matrix	muBar
private Matrix	q
private Matrix	r
private Matrix	sigma
private Matrix	sigmaBar

Constructor Summary

Constructors

Constructor and Description
KalmanFilter(Matrix a, Matrix b, Matrix c, Matrix q, Matrix r)

Method Summary

Modifier and Type	Method and Description
Matrix	getCovariance()
Matrix	getGain()
Matrix	getMean()
Matrix	getPredictedCovariance()
Matrix	getPredictedMean()
void	setState(Matrix mean, Matrix covariance)
void	update(Matrix control, Matrix measurement)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

a

private Matrix a

b

private Matrix b

c

private Matrix c

i

private Matrix i

q

private Matrix q

r

private Matrix r

at

private Matrix at

ct

private Matrix ct

mu

private Matrix mu

sigma

private Matrix sigma

muBar

private Matrix muBar

sigmaBar

private Matrix sigmaBar

gain

private Matrix gain

Constructor Detail

KalmanFilter

public KalmanFilter(Matrix a,
                    Matrix b,
                    Matrix c,
                    Matrix q,
                    Matrix r)

Method Detail

setState

public void setState(Matrix mean,
                     Matrix covariance)

update

public void update(Matrix control,
                   Matrix measurement)

getMean

public Matrix getMean()

getCovariance

public Matrix getCovariance()

getPredictedMean

public Matrix getPredictedMean()

getPredictedCovariance

public Matrix getPredictedCovariance()

getGain

public Matrix getGain()