usTissueTranslationEstimatorUKF Class Reference

#include <visp3/ustk_needle_modeling/usTissueTranslationEstimatorUKF.h>

Inheritance diagram for usTissueTranslationEstimatorUKF:

Public Types
enum	StateDynamicsType : int { CONSTANT_POSITION , CONSTANT_VELOCITY }
enum	TissueTranslationType : int { LATERAL_TRANSLATIONS_ONLY , FULL_TRANSLATIONS }
enum	MeasureType : int { NEEDLE_BODY_POINTS , TIP_POSITION_AND_DIRECTION , BASE_FORCE_TORQUE }
enum	NoiseType : int { ADDITIVE_NOISE , GENERIC_NOISE }
enum	SigmaPointGenerationType : int { STANDARD_COVARIANCE , FIXED_SCALING_FACTOR , LIMITED_SPREAD }

Public Member Functions
	usTissueTranslationEstimatorUKF ()
	~usTissueTranslationEstimatorUKF ()
double	getPositionMeasureNoiseVariance () const
void	setPositionMeasureNoiseVariance (double sigma)
double	getTipDirectionMeasureNoiseVariance () const
void	setTipDirectionMeasureNoiseVariance (double sigma)
double	getForceMeasureNoiseVariance () const
void	setForceMeasureNoiseVariance (double sigma)
double	getTorqueMeasureNoiseVariance () const
void	setTorqueMeasureNoiseVariance (double sigma)
double	getTissuePositionProcessNoiseVariance () const
void	setTissuePositionProcessNoiseVariance (double sigma)
double	getTissueVelocityProcessNoiseVariance () const
void	setTissueVelocityProcessNoiseVariance (double sigma)
StateDynamicsType	getStateDynamicsType () const
void	setStateDynamicsType (StateDynamicsType type)
TissueTranslationType	getTissueTranslationType () const
void	setTissueTranslationType (TissueTranslationType type)
MeasureType	getMeasureType () const
void	setMeasureType (MeasureType type)
void	setPropagationTime (double time)
void	setCurrentNeedle (const usNeedleInsertionModelRayleighRitzSpline &needle)
void	applyStateToNeedle (usNeedleInsertionModelRayleighRitzSpline &needle) const
bool	checkConsistency (const vpColVector &measure)
void	computeProcessNoiseCovarianceMatrix ()
void	computeMeasureNoiseCovarianceMatrix ()
vpColVector	propagateSigmaPoint (const vpColVector &sigmaPoint)
vpColVector	computeMeasureFromSigmaPoint (const vpColVector &sigmaPoint)
double	stateNorm (const vpColVector &state) const
vpColVector	measureLog (const vpColVector &measure, const vpColVector &measureCenter) const
int	getStateDimension () const
void	setStateDimension (int dim)
int	getMeasureDimension () const
void	setMeasureDimension (int dim)
NoiseType	getProcessNoiseType () const
void	setProcessNoiseType (NoiseType type)
int	getProcessNoiseDimension () const
void	setProcessNoiseDimension (int dim)
NoiseType	getMeasureNoiseType () const
void	setMeasureNoiseType (NoiseType type)
int	getMeasureNoiseDimension () const
void	setMeasureNoiseDimension (int dim)
SigmaPointGenerationType	getSigmaPointGenerationType () const
void	setSigmaPointGenerationType (SigmaPointGenerationType type)
double	getSigmaPointScalingFactor () const
void	setSigmaPointScalingFactor (double factor)
double	getSigmaPointSpreadThreshold () const
void	setSigmaPointSpreadThreshold (double threshold)
vpColVector	getState () const
void	setState (const vpColVector &state)
vpMatrix	getStateCovarianceMatrix () const
void	setStateCovarianceMatrix (const vpMatrix &mat)
vpMatrix	getProcessNoiseCovarianceMatrix () const
void	setProcessNoiseCovarianceMatrix (const vpMatrix &cov)
bool	computeProcessNoiseCovarianceMatrixAutomatically () const
void	computeProcessNoiseCovarianceMatrixAutomatically (bool flag)
vpMatrix	getMeasureNoiseCovarianceMatrix () const
void	setMeasureNoiseCovarianceMatrix (const vpMatrix &cov)
bool	computeMeasureNoiseCovarianceMatrixAutomatically () const
void	computeMeasureNoiseCovarianceMatrixAutomatically (bool flag)
bool	generateSigmaPoints ()
bool	computePropagatedSigmaPoints ()
bool	computeSigmaMeasures ()
void	computeMeansAndCovarianceMatricesFromSigmaPoints ()
bool	updateState ()
bool	filter (const vpColVector &measure)
virtual vpColVector	stateLog (const vpColVector &state, const vpColVector &stateCenter) const
virtual vpColVector	stateExp (const vpColVector &state, const vpColVector &stateCenter) const

Public Attributes
double	m_var_measure_p
double	m_var_measure_d
double	m_var_measure_f
double	m_var_measure_t
double	m_var_process_p
double	m_var_process_v
StateDynamicsType	m_stateDynamicsType
TissueTranslationType	m_tissueTranslationType
MeasureType	m_measureType
double	m_propagationTime
usNeedleInsertionModelRayleighRitzSpline	m_needle

Protected Attributes
unsigned int	m_stateDimension
unsigned int	m_measureDimension
unsigned int	m_processNoiseDimension
unsigned int	m_measureNoiseDimension
vpColVector	m_state
vpMatrix	m_stateCovarianceMatrix
NoiseType	m_processNoiseType
vpMatrix	m_processNoiseCovarianceMatrix
bool	m_computeProcessNoiseCovarianceMatrixAutomatically
NoiseType	m_measureNoiseType
vpMatrix	m_measureNoiseCovarianceMatrix
bool	m_computeMeasureNoiseCovarianceMatrixAutomatically
vpColVector	m_measure
SigmaPointGenerationType	m_sigmaPointsGenerationType
vpMatrix	m_sigmaPointsInit
vpMatrix	m_sigmaPointsPropagated
vpMatrix	m_sigmaPointsMeasure
vpColVector	m_sigmaPointsMeanWeights
vpColVector	m_sigmaPointsCovarianceWeights
double	m_sigmaPointsScalingFactor
double	m_sigmaPointsSpreadThreshold
vpColVector	m_stateSigmaMean
vpColVector	m_measureSigmaMean
vpMatrix	m_stateSigmaCovarianceMatrix
vpMatrix	m_stateMeasureSigmaCovarianceMatrix
vpMatrix	m_measureSigmaCovarianceMatrix

Detailed Description

Definition at line 49 of file usTissueTranslationEstimatorUKF.h.

Member Enumeration Documentation

MeasureType

enum usTissueTranslationEstimatorUKF::MeasureType : int

Enumerator
NEEDLE_BODY_POINTS
TIP_POSITION_AND_DIRECTION
BASE_FORCE_TORQUE

Definition at line 55 of file usTissueTranslationEstimatorUKF.h.

NoiseType

enum usUnscentedKalmanFilter::NoiseType : int

inherited

Enumerator
ADDITIVE_NOISE
GENERIC_NOISE

Definition at line 53 of file usUnscentedKalmanFilter.h.

SigmaPointGenerationType

enum usUnscentedKalmanFilter::SigmaPointGenerationType : int

inherited

Enumerator
STANDARD_COVARIANCE
FIXED_SCALING_FACTOR
LIMITED_SPREAD

Definition at line 54 of file usUnscentedKalmanFilter.h.

StateDynamicsType

enum usTissueTranslationEstimatorUKF::StateDynamicsType : int

Enumerator
CONSTANT_POSITION
CONSTANT_VELOCITY

Definition at line 53 of file usTissueTranslationEstimatorUKF.h.

TissueTranslationType

enum usTissueTranslationEstimatorUKF::TissueTranslationType : int

Enumerator
LATERAL_TRANSLATIONS_ONLY
FULL_TRANSLATIONS

Definition at line 54 of file usTissueTranslationEstimatorUKF.h.

Constructor & Destructor Documentation

usTissueTranslationEstimatorUKF()

usTissueTranslationEstimatorUKF::usTissueTranslationEstimatorUKF

(

)

Definition at line 38 of file usTissueTranslationEstimatorUKF.cpp.

References usUnscentedKalmanFilter::m_computeMeasureNoiseCovarianceMatrixAutomatically, usUnscentedKalmanFilter::m_computeProcessNoiseCovarianceMatrixAutomatically, and usUnscentedKalmanFilter::setStateDimension().

~usTissueTranslationEstimatorUKF()

usTissueTranslationEstimatorUKF::~usTissueTranslationEstimatorUKF

(

)

Definition at line 57 of file usTissueTranslationEstimatorUKF.cpp.

Member Function Documentation

applyStateToNeedle()

void usTissueTranslationEstimatorUKF::applyStateToNeedle

(

usNeedleInsertionModelRayleighRitzSpline &

needle

)

const

Definition at line 178 of file usTissueTranslationEstimatorUKF.cpp.

References usTissueModelSpline::accessSurface(), usNeedleInsertionModelRayleighRitzSpline::accessTissue(), usOrientedPlane3D::getPose(), usUnscentedKalmanFilter::m_state, and usTissueModelSpline::setPose().

checkConsistency()

bool usTissueTranslationEstimatorUKF::checkConsistency ( const vpColVector &  measure )

virtual

Reimplemented from usUnscentedKalmanFilter.

Definition at line 185 of file usTissueTranslationEstimatorUKF.cpp.

References usNeedleInsertionModelRayleighRitzSpline::accessTissue(), usUnscentedKalmanFilter::checkConsistency(), usTissueModelSpline::getPose(), usNeedleInsertionModelRayleighRitzSpline::IsNeedleInserted(), m_measureType, m_needle, usUnscentedKalmanFilter::m_state, NEEDLE_BODY_POINTS, usUnscentedKalmanFilter::setMeasureDimension(), and usUnscentedKalmanFilter::setMeasureNoiseDimension().

computeMeansAndCovarianceMatricesFromSigmaPoints()

void usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints ( )

inherited

Definition at line 508 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix, usUnscentedKalmanFilter::m_measureNoiseType, usUnscentedKalmanFilter::m_measureSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_measureSigmaMean, usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix, usUnscentedKalmanFilter::m_processNoiseType, usUnscentedKalmanFilter::m_sigmaPointsCovarianceWeights, usUnscentedKalmanFilter::m_sigmaPointsMeanWeights, usUnscentedKalmanFilter::m_sigmaPointsMeasure, usUnscentedKalmanFilter::m_sigmaPointsPropagated, usUnscentedKalmanFilter::m_stateDimension, usUnscentedKalmanFilter::m_stateMeasureSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_stateSigmaCovarianceMatrix, and usUnscentedKalmanFilter::m_stateSigmaMean.

Referenced by usUnscentedKalmanFilter::filter().

computeMeasureFromSigmaPoint()

vpColVector usTissueTranslationEstimatorUKF::computeMeasureFromSigmaPoint ( const vpColVector &  sigmaPoint )

virtual

Implements usUnscentedKalmanFilter.

Definition at line 276 of file usTissueTranslationEstimatorUKF.cpp.

References usNeedleInsertionModelRayleighRitzSpline::accessNeedle(), usBSpline3D::accessSegment(), usNeedleInsertionModelRayleighRitzSpline::accessTissue(), BASE_FORCE_TORQUE, usNeedleModelSpline::getBaseStaticTorsor(), usPolynomialCurve3D::getPoint(), usTissueModelSpline::getPose(), usNeedleModelBaseTip::getTipDirection(), usNeedleModelBaseTip::getTipPosition(), usUnscentedKalmanFilter::m_measure, m_measureType, m_needle, NEEDLE_BODY_POINTS, usGeometryTools::projectPointOnCurve(), usTissueModelSpline::setPose(), TIP_POSITION_AND_DIRECTION, and usNeedleInsertionModelRayleighRitzSpline::updateState().

computeMeasureNoiseCovarianceMatrix()

void usTissueTranslationEstimatorUKF::computeMeasureNoiseCovarianceMatrix ( )

virtual

Reimplemented from usUnscentedKalmanFilter.

Definition at line 226 of file usTissueTranslationEstimatorUKF.cpp.

References BASE_FORCE_TORQUE, usUnscentedKalmanFilter::m_measureDimension, usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix, m_measureType, m_var_measure_d, m_var_measure_f, m_var_measure_p, m_var_measure_t, NEEDLE_BODY_POINTS, and TIP_POSITION_AND_DIRECTION.

computeMeasureNoiseCovarianceMatrixAutomatically() [1/2]

bool usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrixAutomatically ( ) const

inherited

Definition at line 300 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_computeMeasureNoiseCovarianceMatrixAutomatically.

computeMeasureNoiseCovarianceMatrixAutomatically() [2/2]

void usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrixAutomatically ( bool  flag )

inherited

Definition at line 305 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_computeMeasureNoiseCovarianceMatrixAutomatically.

computeProcessNoiseCovarianceMatrix()

void usTissueTranslationEstimatorUKF::computeProcessNoiseCovarianceMatrix ( )

virtual

Reimplemented from usUnscentedKalmanFilter.

Definition at line 199 of file usTissueTranslationEstimatorUKF.cpp.

References usTissueModelSpline::accessSurface(), usNeedleInsertionModelRayleighRitzSpline::accessTissue(), CONSTANT_POSITION, CONSTANT_VELOCITY, usOrientedPlane3D::getDirection(), LATERAL_TRANSLATIONS_ONLY, m_needle, usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix, m_stateDynamicsType, m_tissueTranslationType, m_var_process_p, and m_var_process_v.

computeProcessNoiseCovarianceMatrixAutomatically() [1/2]

bool usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrixAutomatically ( ) const

inherited

Definition at line 278 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_computeProcessNoiseCovarianceMatrixAutomatically.

computeProcessNoiseCovarianceMatrixAutomatically() [2/2]

void usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrixAutomatically ( bool  flag )

inherited

Definition at line 283 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_computeProcessNoiseCovarianceMatrixAutomatically.

computePropagatedSigmaPoints()

bool usUnscentedKalmanFilter::computePropagatedSigmaPoints ( )

inherited

Definition at line 457 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsInit, usUnscentedKalmanFilter::m_sigmaPointsPropagated, and usUnscentedKalmanFilter::propagateSigmaPoint().

Referenced by usUnscentedKalmanFilter::filter().

computeSigmaMeasures()

bool usUnscentedKalmanFilter::computeSigmaMeasures ( )

inherited

Definition at line 477 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::computeMeasureFromSigmaPoint(), usUnscentedKalmanFilter::m_measureDimension, usUnscentedKalmanFilter::m_sigmaPointsMeasure, usUnscentedKalmanFilter::m_sigmaPointsPropagated, usUnscentedKalmanFilter::m_state, usUnscentedKalmanFilter::measureLog(), and usUnscentedKalmanFilter::stateLog().

Referenced by usUnscentedKalmanFilter::filter().

filter()

bool usUnscentedKalmanFilter::filter ( const vpColVector &  measure )

inherited

Definition at line 574 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrix(), usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrix(), usUnscentedKalmanFilter::computePropagatedSigmaPoints(), usUnscentedKalmanFilter::computeSigmaMeasures(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::m_computeMeasureNoiseCovarianceMatrixAutomatically, usUnscentedKalmanFilter::m_computeProcessNoiseCovarianceMatrixAutomatically, usUnscentedKalmanFilter::m_measure, and usUnscentedKalmanFilter::updateState().

generateSigmaPoints()

bool usUnscentedKalmanFilter::generateSigmaPoints ( )

inherited

Definition at line 329 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix, usUnscentedKalmanFilter::m_measureNoiseDimension, usUnscentedKalmanFilter::m_measureNoiseType, usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix, usUnscentedKalmanFilter::m_processNoiseDimension, usUnscentedKalmanFilter::m_processNoiseType, usUnscentedKalmanFilter::m_sigmaPointsCovarianceWeights, usUnscentedKalmanFilter::m_sigmaPointsGenerationType, usUnscentedKalmanFilter::m_sigmaPointsInit, usUnscentedKalmanFilter::m_sigmaPointsMeanWeights, usUnscentedKalmanFilter::m_sigmaPointsScalingFactor, usUnscentedKalmanFilter::m_sigmaPointsSpreadThreshold, usUnscentedKalmanFilter::m_state, usUnscentedKalmanFilter::m_stateCovarianceMatrix, usUnscentedKalmanFilter::m_stateDimension, usUnscentedKalmanFilter::stateLog(), and usUnscentedKalmanFilter::stateNorm().

Referenced by usUnscentedKalmanFilter::filter().

getForceMeasureNoiseVariance()

double usTissueTranslationEstimatorUKF::getForceMeasureNoiseVariance

(

)

const

Definition at line 82 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_f.

getMeasureDimension()

int usUnscentedKalmanFilter::getMeasureDimension ( ) const

inherited

Definition at line 150 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureDimension.

getMeasureNoiseCovarianceMatrix()

vpMatrix usUnscentedKalmanFilter::getMeasureNoiseCovarianceMatrix ( ) const

inherited

Definition at line 288 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix.

getMeasureNoiseDimension()

int usUnscentedKalmanFilter::getMeasureNoiseDimension ( ) const

inherited

Definition at line 198 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseDimension.

getMeasureNoiseType()

usUnscentedKalmanFilter::NoiseType usUnscentedKalmanFilter::getMeasureNoiseType ( ) const

inherited

Definition at line 188 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseType.

getMeasureType()

usTissueTranslationEstimatorUKF::MeasureType usTissueTranslationEstimatorUKF::getMeasureType

(

)

const

Definition at line 155 of file usTissueTranslationEstimatorUKF.cpp.

References m_measureType.

getPositionMeasureNoiseVariance()

double usTissueTranslationEstimatorUKF::getPositionMeasureNoiseVariance

(

)

const

Definition at line 62 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_p.

getProcessNoiseCovarianceMatrix()

vpMatrix usUnscentedKalmanFilter::getProcessNoiseCovarianceMatrix ( ) const

inherited

Definition at line 266 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix.

getProcessNoiseDimension()

int usUnscentedKalmanFilter::getProcessNoiseDimension ( ) const

inherited

Definition at line 175 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_processNoiseDimension.

getProcessNoiseType()

usUnscentedKalmanFilter::NoiseType usUnscentedKalmanFilter::getProcessNoiseType ( ) const

inherited

Definition at line 165 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_processNoiseType.

getSigmaPointGenerationType()

usUnscentedKalmanFilter::SigmaPointGenerationType usUnscentedKalmanFilter::getSigmaPointGenerationType ( ) const

inherited

Definition at line 211 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsGenerationType.

getSigmaPointScalingFactor()

double usUnscentedKalmanFilter::getSigmaPointScalingFactor ( ) const

inherited

Definition at line 221 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsScalingFactor.

getSigmaPointSpreadThreshold()

double usUnscentedKalmanFilter::getSigmaPointSpreadThreshold ( ) const

inherited

Definition at line 231 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsSpreadThreshold.

getState()

vpColVector usUnscentedKalmanFilter::getState ( ) const

inherited

Definition at line 242 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_state.

getStateCovarianceMatrix()

vpMatrix usUnscentedKalmanFilter::getStateCovarianceMatrix ( ) const

inherited

Definition at line 254 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_stateCovarianceMatrix.

getStateDimension()

int usUnscentedKalmanFilter::getStateDimension ( ) const

inherited

Definition at line 133 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_stateDimension.

getStateDynamicsType()

usTissueTranslationEstimatorUKF::StateDynamicsType usTissueTranslationEstimatorUKF::getStateDynamicsType

(

)

const

Definition at line 122 of file usTissueTranslationEstimatorUKF.cpp.

References m_stateDynamicsType.

getTipDirectionMeasureNoiseVariance()

double usTissueTranslationEstimatorUKF::getTipDirectionMeasureNoiseVariance

(

)

const

Definition at line 72 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_d.

getTissuePositionProcessNoiseVariance()

double usTissueTranslationEstimatorUKF::getTissuePositionProcessNoiseVariance

(

)

const

Definition at line 102 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_process_p.

getTissueTranslationType()

usTissueTranslationEstimatorUKF::TissueTranslationType usTissueTranslationEstimatorUKF::getTissueTranslationType

(

)

const

Definition at line 145 of file usTissueTranslationEstimatorUKF.cpp.

References m_tissueTranslationType.

getTissueVelocityProcessNoiseVariance()

double usTissueTranslationEstimatorUKF::getTissueVelocityProcessNoiseVariance

(

)

const

Definition at line 112 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_process_v.

getTorqueMeasureNoiseVariance()

double usTissueTranslationEstimatorUKF::getTorqueMeasureNoiseVariance

(

)

const

Definition at line 92 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_t.

measureLog()

vpColVector usTissueTranslationEstimatorUKF::measureLog ( const vpColVector &  measure, const vpColVector &  measureCenter  ) const

virtual

Reimplemented from usUnscentedKalmanFilter.

Definition at line 351 of file usTissueTranslationEstimatorUKF.cpp.

References BASE_FORCE_TORQUE, m_measureType, NEEDLE_BODY_POINTS, and TIP_POSITION_AND_DIRECTION.

propagateSigmaPoint()

vpColVector usTissueTranslationEstimatorUKF::propagateSigmaPoint ( const vpColVector &  sigmaPoint )

virtual

Implements usUnscentedKalmanFilter.

Definition at line 256 of file usTissueTranslationEstimatorUKF.cpp.

References CONSTANT_POSITION, CONSTANT_VELOCITY, m_propagationTime, and m_stateDynamicsType.

setCurrentNeedle()

void usTissueTranslationEstimatorUKF::setCurrentNeedle

(

const usNeedleInsertionModelRayleighRitzSpline &

needle

)

Definition at line 172 of file usTissueTranslationEstimatorUKF.cpp.

References usNeedleInsertionModelRayleighRitzSpline::accessTissue(), usTissueModelSpline::getPose(), m_needle, and usUnscentedKalmanFilter::m_state.

setForceMeasureNoiseVariance()

void usTissueTranslationEstimatorUKF::setForceMeasureNoiseVariance

(

double

sigma

)

Definition at line 87 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_f.

setMeasureDimension()

void usUnscentedKalmanFilter::setMeasureDimension ( int  dim )

inherited

Definition at line 155 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureDimension, usUnscentedKalmanFilter::m_measureSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_measureSigmaMean, usUnscentedKalmanFilter::m_stateDimension, and usUnscentedKalmanFilter::m_stateMeasureSigmaCovarianceMatrix.

Referenced by checkConsistency(), and setMeasureType().

setMeasureNoiseCovarianceMatrix()

void usUnscentedKalmanFilter::setMeasureNoiseCovarianceMatrix ( const vpMatrix &  cov )

inherited

Definition at line 293 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix, and usUnscentedKalmanFilter::m_measureNoiseDimension.

setMeasureNoiseDimension()

void usUnscentedKalmanFilter::setMeasureNoiseDimension ( int  dim )

inherited

Definition at line 203 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix, and usUnscentedKalmanFilter::m_measureNoiseDimension.

Referenced by checkConsistency().

setMeasureNoiseType()

void usUnscentedKalmanFilter::setMeasureNoiseType ( NoiseType  type )

inherited

Definition at line 193 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureNoiseType.

setMeasureType()

void usTissueTranslationEstimatorUKF::setMeasureType

(

usTissueTranslationEstimatorUKF::MeasureType

type

)

Definition at line 160 of file usTissueTranslationEstimatorUKF.cpp.

References BASE_FORCE_TORQUE, m_measureType, usUnscentedKalmanFilter::setMeasureDimension(), and TIP_POSITION_AND_DIRECTION.

setPositionMeasureNoiseVariance()

void usTissueTranslationEstimatorUKF::setPositionMeasureNoiseVariance

(

double

sigma

)

Definition at line 67 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_p.

setProcessNoiseCovarianceMatrix()

void usUnscentedKalmanFilter::setProcessNoiseCovarianceMatrix ( const vpMatrix &  cov )

inherited

Definition at line 271 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix, and usUnscentedKalmanFilter::m_processNoiseDimension.

setProcessNoiseDimension()

void usUnscentedKalmanFilter::setProcessNoiseDimension ( int  dim )

inherited

Definition at line 180 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix, and usUnscentedKalmanFilter::m_processNoiseDimension.

setProcessNoiseType()

void usUnscentedKalmanFilter::setProcessNoiseType ( NoiseType  type )

inherited

Definition at line 170 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_processNoiseType.

setPropagationTime()

void usTissueTranslationEstimatorUKF::setPropagationTime

(

double

time

)

Definition at line 167 of file usTissueTranslationEstimatorUKF.cpp.

References m_propagationTime.

setSigmaPointGenerationType()

void usUnscentedKalmanFilter::setSigmaPointGenerationType ( usUnscentedKalmanFilter::SigmaPointGenerationType  type )

inherited

Definition at line 216 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsGenerationType.

setSigmaPointScalingFactor()

void usUnscentedKalmanFilter::setSigmaPointScalingFactor ( double  factor )

inherited

Definition at line 226 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsScalingFactor.

setSigmaPointSpreadThreshold()

void usUnscentedKalmanFilter::setSigmaPointSpreadThreshold ( double  threshold )

inherited

Definition at line 236 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_sigmaPointsSpreadThreshold.

setState()

void usUnscentedKalmanFilter::setState ( const vpColVector &  state )

inherited

Definition at line 247 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_state, and usUnscentedKalmanFilter::m_stateDimension.

setStateCovarianceMatrix()

void usUnscentedKalmanFilter::setStateCovarianceMatrix ( const vpMatrix &  mat )

inherited

Definition at line 259 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_stateCovarianceMatrix, and usUnscentedKalmanFilter::m_stateDimension.

setStateDimension()

void usUnscentedKalmanFilter::setStateDimension ( int  dim )

inherited

Definition at line 138 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::m_measureDimension, usUnscentedKalmanFilter::m_state, usUnscentedKalmanFilter::m_stateCovarianceMatrix, usUnscentedKalmanFilter::m_stateDimension, usUnscentedKalmanFilter::m_stateMeasureSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_stateSigmaCovarianceMatrix, and usUnscentedKalmanFilter::m_stateSigmaMean.

Referenced by setStateDynamicsType(), and usTissueTranslationEstimatorUKF().

setStateDynamicsType()

void usTissueTranslationEstimatorUKF::setStateDynamicsType

(

usTissueTranslationEstimatorUKF::StateDynamicsType

type

)

Definition at line 127 of file usTissueTranslationEstimatorUKF.cpp.

References CONSTANT_POSITION, CONSTANT_VELOCITY, m_stateDynamicsType, and usUnscentedKalmanFilter::setStateDimension().

setTipDirectionMeasureNoiseVariance()

void usTissueTranslationEstimatorUKF::setTipDirectionMeasureNoiseVariance

(

double

sigma

)

Definition at line 77 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_d.

setTissuePositionProcessNoiseVariance()

void usTissueTranslationEstimatorUKF::setTissuePositionProcessNoiseVariance

(

double

sigma

)

Definition at line 107 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_process_p.

setTissueTranslationType()

void usTissueTranslationEstimatorUKF::setTissueTranslationType

(

usTissueTranslationEstimatorUKF::TissueTranslationType

type

)

Definition at line 150 of file usTissueTranslationEstimatorUKF.cpp.

References m_tissueTranslationType.

setTissueVelocityProcessNoiseVariance()

void usTissueTranslationEstimatorUKF::setTissueVelocityProcessNoiseVariance

(

double

sigma

)

Definition at line 117 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_process_v.

setTorqueMeasureNoiseVariance()

void usTissueTranslationEstimatorUKF::setTorqueMeasureNoiseVariance

(

double

sigma

)

Definition at line 97 of file usTissueTranslationEstimatorUKF.cpp.

References m_var_measure_t.

stateExp()

vpColVector usUnscentedKalmanFilter::stateExp ( const vpColVector &  state, const vpColVector &  stateCenter  ) const

virtualinherited

Definition at line 609 of file usUnscentedKalmanFilter.cpp.

Referenced by usUnscentedKalmanFilter::updateState().

stateLog()

vpColVector usUnscentedKalmanFilter::stateLog ( const vpColVector &  state, const vpColVector &  stateCenter  ) const

virtualinherited

Definition at line 603 of file usUnscentedKalmanFilter.cpp.

Referenced by usUnscentedKalmanFilter::computeSigmaMeasures(), usUnscentedKalmanFilter::generateSigmaPoints(), and usUnscentedKalmanFilter::updateState().

stateNorm()

double usTissueTranslationEstimatorUKF::stateNorm ( const vpColVector &  state ) const

virtual

Reimplemented from usUnscentedKalmanFilter.

Definition at line 333 of file usTissueTranslationEstimatorUKF.cpp.

References CONSTANT_POSITION, CONSTANT_VELOCITY, m_propagationTime, and m_stateDynamicsType.

updateState()

bool usUnscentedKalmanFilter::updateState ( )

inherited

Definition at line 554 of file usUnscentedKalmanFilter.cpp.

References usUnscentedKalmanFilter::computeMeasureFromSigmaPoint(), usUnscentedKalmanFilter::m_measure, usUnscentedKalmanFilter::m_measureSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_measureSigmaMean, usUnscentedKalmanFilter::m_state, usUnscentedKalmanFilter::m_stateCovarianceMatrix, usUnscentedKalmanFilter::m_stateMeasureSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_stateSigmaCovarianceMatrix, usUnscentedKalmanFilter::m_stateSigmaMean, usUnscentedKalmanFilter::measureLog(), usUnscentedKalmanFilter::stateExp(), and usUnscentedKalmanFilter::stateLog().

Referenced by usUnscentedKalmanFilter::filter().

Member Data Documentation

m_computeMeasureNoiseCovarianceMatrixAutomatically

bool usUnscentedKalmanFilter::m_computeMeasureNoiseCovarianceMatrixAutomatically

protectedinherited

Definition at line 72 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrixAutomatically(), usUnscentedKalmanFilter::filter(), and usTissueTranslationEstimatorUKF().

m_computeProcessNoiseCovarianceMatrixAutomatically

bool usUnscentedKalmanFilter::m_computeProcessNoiseCovarianceMatrixAutomatically

protectedinherited

Definition at line 68 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrixAutomatically(), usUnscentedKalmanFilter::filter(), and usTissueTranslationEstimatorUKF().

m_measure

vpColVector usUnscentedKalmanFilter::m_measure

protectedinherited

Definition at line 74 of file usUnscentedKalmanFilter.h.

Referenced by computeMeasureFromSigmaPoint(), usUnscentedKalmanFilter::filter(), and usUnscentedKalmanFilter::updateState().

m_measureDimension

unsigned int usUnscentedKalmanFilter::m_measureDimension

protectedinherited

Definition at line 59 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), computeMeasureNoiseCovarianceMatrix(), usUnscentedKalmanFilter::computeSigmaMeasures(), usUnscentedKalmanFilter::getMeasureDimension(), usUnscentedKalmanFilter::setMeasureDimension(), and usUnscentedKalmanFilter::setStateDimension().

m_measureNoiseCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix

protectedinherited

Definition at line 71 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), computeMeasureNoiseCovarianceMatrix(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getMeasureNoiseCovarianceMatrix(), usUnscentedKalmanFilter::setMeasureNoiseCovarianceMatrix(), and usUnscentedKalmanFilter::setMeasureNoiseDimension().

m_measureNoiseDimension

unsigned int usUnscentedKalmanFilter::m_measureNoiseDimension

protectedinherited

Definition at line 61 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getMeasureNoiseDimension(), usUnscentedKalmanFilter::setMeasureNoiseCovarianceMatrix(), and usUnscentedKalmanFilter::setMeasureNoiseDimension().

m_measureNoiseType

NoiseType usUnscentedKalmanFilter::m_measureNoiseType

protectedinherited

Definition at line 70 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getMeasureNoiseType(), and usUnscentedKalmanFilter::setMeasureNoiseType().

m_measureSigmaCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_measureSigmaCovarianceMatrix

protectedinherited

Definition at line 89 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::setMeasureDimension(), and usUnscentedKalmanFilter::updateState().

m_measureSigmaMean

vpColVector usUnscentedKalmanFilter::m_measureSigmaMean

protectedinherited

Definition at line 86 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::setMeasureDimension(), and usUnscentedKalmanFilter::updateState().

m_measureType

MeasureType usTissueTranslationEstimatorUKF::m_measureType

Definition at line 65 of file usTissueTranslationEstimatorUKF.h.

Referenced by checkConsistency(), computeMeasureFromSigmaPoint(), computeMeasureNoiseCovarianceMatrix(), getMeasureType(), measureLog(), and setMeasureType().

m_needle

usNeedleInsertionModelRayleighRitzSpline usTissueTranslationEstimatorUKF::m_needle

Definition at line 69 of file usTissueTranslationEstimatorUKF.h.

Referenced by checkConsistency(), computeMeasureFromSigmaPoint(), computeProcessNoiseCovarianceMatrix(), and setCurrentNeedle().

m_processNoiseCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix

protectedinherited

Definition at line 67 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), computeProcessNoiseCovarianceMatrix(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getProcessNoiseCovarianceMatrix(), usUnscentedKalmanFilter::setProcessNoiseCovarianceMatrix(), and usUnscentedKalmanFilter::setProcessNoiseDimension().

m_processNoiseDimension

unsigned int usUnscentedKalmanFilter::m_processNoiseDimension

protectedinherited

Definition at line 60 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getProcessNoiseDimension(), usUnscentedKalmanFilter::setProcessNoiseCovarianceMatrix(), and usUnscentedKalmanFilter::setProcessNoiseDimension().

m_processNoiseType

NoiseType usUnscentedKalmanFilter::m_processNoiseType

protectedinherited

Definition at line 66 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getProcessNoiseType(), and usUnscentedKalmanFilter::setProcessNoiseType().

m_propagationTime

double usTissueTranslationEstimatorUKF::m_propagationTime

Definition at line 67 of file usTissueTranslationEstimatorUKF.h.

Referenced by propagateSigmaPoint(), setPropagationTime(), and stateNorm().

m_sigmaPointsCovarianceWeights

vpColVector usUnscentedKalmanFilter::m_sigmaPointsCovarianceWeights

protectedinherited

Definition at line 81 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), and usUnscentedKalmanFilter::generateSigmaPoints().

m_sigmaPointsGenerationType

SigmaPointGenerationType usUnscentedKalmanFilter::m_sigmaPointsGenerationType

protectedinherited

Definition at line 76 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getSigmaPointGenerationType(), and usUnscentedKalmanFilter::setSigmaPointGenerationType().

m_sigmaPointsInit

vpMatrix usUnscentedKalmanFilter::m_sigmaPointsInit

protectedinherited

Definition at line 77 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computePropagatedSigmaPoints(), and usUnscentedKalmanFilter::generateSigmaPoints().

m_sigmaPointsMeanWeights

vpColVector usUnscentedKalmanFilter::m_sigmaPointsMeanWeights

protectedinherited

Definition at line 80 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), and usUnscentedKalmanFilter::generateSigmaPoints().

m_sigmaPointsMeasure

vpMatrix usUnscentedKalmanFilter::m_sigmaPointsMeasure

protectedinherited

Definition at line 79 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), and usUnscentedKalmanFilter::computeSigmaMeasures().

m_sigmaPointsPropagated

vpMatrix usUnscentedKalmanFilter::m_sigmaPointsPropagated

protectedinherited

Definition at line 78 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::computePropagatedSigmaPoints(), and usUnscentedKalmanFilter::computeSigmaMeasures().

m_sigmaPointsScalingFactor

double usUnscentedKalmanFilter::m_sigmaPointsScalingFactor

protectedinherited

Definition at line 82 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getSigmaPointScalingFactor(), and usUnscentedKalmanFilter::setSigmaPointScalingFactor().

m_sigmaPointsSpreadThreshold

double usUnscentedKalmanFilter::m_sigmaPointsSpreadThreshold

protectedinherited

Definition at line 83 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getSigmaPointSpreadThreshold(), and usUnscentedKalmanFilter::setSigmaPointSpreadThreshold().

m_state

vpColVector usUnscentedKalmanFilter::m_state

protectedinherited

Definition at line 63 of file usUnscentedKalmanFilter.h.

Referenced by applyStateToNeedle(), checkConsistency(), usUnscentedKalmanFilter::computeSigmaMeasures(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getState(), setCurrentNeedle(), usUnscentedKalmanFilter::setState(), usUnscentedKalmanFilter::setStateDimension(), and usUnscentedKalmanFilter::updateState().

m_stateCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_stateCovarianceMatrix

protectedinherited

Definition at line 64 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getStateCovarianceMatrix(), usUnscentedKalmanFilter::setStateCovarianceMatrix(), usUnscentedKalmanFilter::setStateDimension(), and usUnscentedKalmanFilter::updateState().

m_stateDimension

unsigned int usUnscentedKalmanFilter::m_stateDimension

protectedinherited

Definition at line 58 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::checkConsistency(), usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::generateSigmaPoints(), usUnscentedKalmanFilter::getStateDimension(), usUnscentedKalmanFilter::setMeasureDimension(), usUnscentedKalmanFilter::setState(), usUnscentedKalmanFilter::setStateCovarianceMatrix(), and usUnscentedKalmanFilter::setStateDimension().

m_stateDynamicsType

StateDynamicsType usTissueTranslationEstimatorUKF::m_stateDynamicsType

Definition at line 63 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeProcessNoiseCovarianceMatrix(), getStateDynamicsType(), propagateSigmaPoint(), setStateDynamicsType(), and stateNorm().

m_stateMeasureSigmaCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_stateMeasureSigmaCovarianceMatrix

protectedinherited

Definition at line 88 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::setMeasureDimension(), usUnscentedKalmanFilter::setStateDimension(), and usUnscentedKalmanFilter::updateState().

m_stateSigmaCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_stateSigmaCovarianceMatrix

protectedinherited

Definition at line 87 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::setStateDimension(), and usUnscentedKalmanFilter::updateState().

m_stateSigmaMean

vpColVector usUnscentedKalmanFilter::m_stateSigmaMean

protectedinherited

Definition at line 85 of file usUnscentedKalmanFilter.h.

Referenced by usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints(), usUnscentedKalmanFilter::setStateDimension(), and usUnscentedKalmanFilter::updateState().

m_tissueTranslationType

TissueTranslationType usTissueTranslationEstimatorUKF::m_tissueTranslationType

Definition at line 64 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeProcessNoiseCovarianceMatrix(), getTissueTranslationType(), and setTissueTranslationType().

m_var_measure_d

double usTissueTranslationEstimatorUKF::m_var_measure_d

Definition at line 58 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeMeasureNoiseCovarianceMatrix(), getTipDirectionMeasureNoiseVariance(), and setTipDirectionMeasureNoiseVariance().

m_var_measure_f

double usTissueTranslationEstimatorUKF::m_var_measure_f

Definition at line 59 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeMeasureNoiseCovarianceMatrix(), getForceMeasureNoiseVariance(), and setForceMeasureNoiseVariance().

m_var_measure_p

double usTissueTranslationEstimatorUKF::m_var_measure_p

Definition at line 57 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeMeasureNoiseCovarianceMatrix(), getPositionMeasureNoiseVariance(), and setPositionMeasureNoiseVariance().

m_var_measure_t

double usTissueTranslationEstimatorUKF::m_var_measure_t

Definition at line 60 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeMeasureNoiseCovarianceMatrix(), getTorqueMeasureNoiseVariance(), and setTorqueMeasureNoiseVariance().

m_var_process_p

double usTissueTranslationEstimatorUKF::m_var_process_p

Definition at line 61 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeProcessNoiseCovarianceMatrix(), getTissuePositionProcessNoiseVariance(), and setTissuePositionProcessNoiseVariance().

m_var_process_v

double usTissueTranslationEstimatorUKF::m_var_process_v

Definition at line 62 of file usTissueTranslationEstimatorUKF.h.

Referenced by computeProcessNoiseCovarianceMatrix(), getTissueVelocityProcessNoiseVariance(), and setTissueVelocityProcessNoiseVariance().