usUnscentedKalmanFilter Class Reference

#include <visp3/ustk_needle_modeling/usUnscentedKalmanFilter.h>

Inheritance diagram for usUnscentedKalmanFilter:

Public Types
enum	NoiseType : int { ADDITIVE_NOISE , GENERIC_NOISE }
enum	SigmaPointGenerationType : int { STANDARD_COVARIANCE , FIXED_SCALING_FACTOR , LIMITED_SPREAD }

Public Member Functions
	usUnscentedKalmanFilter ()
virtual	~usUnscentedKalmanFilter ()
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)
virtual bool	checkConsistency (const vpColVector &measure)
virtual void	computeProcessNoiseCovarianceMatrix ()
virtual void	computeMeasureNoiseCovarianceMatrix ()
bool	generateSigmaPoints ()
bool	computePropagatedSigmaPoints ()
bool	computeSigmaMeasures ()
void	computeMeansAndCovarianceMatricesFromSigmaPoints ()
bool	updateState ()
bool	filter (const vpColVector &measure)
virtual vpColVector	propagateSigmaPoint (const vpColVector &sigmaPoint)=0
virtual vpColVector	computeMeasureFromSigmaPoint (const vpColVector &sigmaPoint)=0
virtual double	stateNorm (const vpColVector &state) const
virtual vpColVector	measureLog (const vpColVector &measure, const vpColVector &measureCenter) const
virtual vpColVector	stateLog (const vpColVector &state, const vpColVector &stateCenter) const
virtual vpColVector	stateExp (const vpColVector &state, const vpColVector &stateCenter) const

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 50 of file usUnscentedKalmanFilter.h.

Member Enumeration Documentation

NoiseType

enum usUnscentedKalmanFilter::NoiseType : int

Enumerator
ADDITIVE_NOISE
GENERIC_NOISE

Definition at line 53 of file usUnscentedKalmanFilter.h.

SigmaPointGenerationType

enum usUnscentedKalmanFilter::SigmaPointGenerationType : int

Enumerator
STANDARD_COVARIANCE
FIXED_SCALING_FACTOR
LIMITED_SPREAD

Definition at line 54 of file usUnscentedKalmanFilter.h.

Constructor & Destructor Documentation

usUnscentedKalmanFilter()

usUnscentedKalmanFilter::usUnscentedKalmanFilter

(

)

Definition at line 91 of file usUnscentedKalmanFilter.cpp.

~usUnscentedKalmanFilter()

usUnscentedKalmanFilter::~usUnscentedKalmanFilter ( )

virtual

Definition at line 128 of file usUnscentedKalmanFilter.cpp.

Member Function Documentation

checkConsistency()

bool usUnscentedKalmanFilter::checkConsistency ( const vpColVector &  measure )

virtual

Reimplemented in usTissueTranslationEstimatorUKF.

Definition at line 310 of file usUnscentedKalmanFilter.cpp.

References ADDITIVE_NOISE, m_computeMeasureNoiseCovarianceMatrixAutomatically, m_computeProcessNoiseCovarianceMatrixAutomatically, m_measureDimension, m_measureNoiseDimension, m_measureNoiseType, m_processNoiseDimension, m_processNoiseType, and m_stateDimension.

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

computeMeansAndCovarianceMatricesFromSigmaPoints()

void usUnscentedKalmanFilter::computeMeansAndCovarianceMatricesFromSigmaPoints

(

)

Definition at line 508 of file usUnscentedKalmanFilter.cpp.

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

Referenced by filter().

computeMeasureFromSigmaPoint()

virtual vpColVector usUnscentedKalmanFilter::computeMeasureFromSigmaPoint ( const vpColVector &  sigmaPoint )

pure virtual

Implemented in usTissueTranslationEstimatorUKF.

Referenced by computeSigmaMeasures(), and updateState().

computeMeasureNoiseCovarianceMatrix()

void usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrix ( )

virtual

Reimplemented in usTissueTranslationEstimatorUKF.

Definition at line 324 of file usUnscentedKalmanFilter.cpp.

Referenced by filter().

computeMeasureNoiseCovarianceMatrixAutomatically() [1/2]

bool usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrixAutomatically

(

)

const

Definition at line 300 of file usUnscentedKalmanFilter.cpp.

References m_computeMeasureNoiseCovarianceMatrixAutomatically.

computeMeasureNoiseCovarianceMatrixAutomatically() [2/2]

void usUnscentedKalmanFilter::computeMeasureNoiseCovarianceMatrixAutomatically

(

bool

flag

)

Definition at line 305 of file usUnscentedKalmanFilter.cpp.

References m_computeMeasureNoiseCovarianceMatrixAutomatically.

computeProcessNoiseCovarianceMatrix()

void usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrix ( )

virtual

Reimplemented in usTissueTranslationEstimatorUKF.

Definition at line 319 of file usUnscentedKalmanFilter.cpp.

Referenced by filter().

computeProcessNoiseCovarianceMatrixAutomatically() [1/2]

bool usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrixAutomatically

(

)

const

Definition at line 278 of file usUnscentedKalmanFilter.cpp.

References m_computeProcessNoiseCovarianceMatrixAutomatically.

computeProcessNoiseCovarianceMatrixAutomatically() [2/2]

void usUnscentedKalmanFilter::computeProcessNoiseCovarianceMatrixAutomatically

(

bool

flag

)

Definition at line 283 of file usUnscentedKalmanFilter.cpp.

References m_computeProcessNoiseCovarianceMatrixAutomatically.

computePropagatedSigmaPoints()

bool usUnscentedKalmanFilter::computePropagatedSigmaPoints

(

)

Definition at line 457 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsInit, m_sigmaPointsPropagated, and propagateSigmaPoint().

Referenced by filter().

computeSigmaMeasures()

bool usUnscentedKalmanFilter::computeSigmaMeasures

(

)

Definition at line 477 of file usUnscentedKalmanFilter.cpp.

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

Referenced by filter().

filter()

bool usUnscentedKalmanFilter::filter

(

const vpColVector &

measure

)

Definition at line 574 of file usUnscentedKalmanFilter.cpp.

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

generateSigmaPoints()

bool usUnscentedKalmanFilter::generateSigmaPoints

(

)

Definition at line 329 of file usUnscentedKalmanFilter.cpp.

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

Referenced by filter().

getMeasureDimension()

int usUnscentedKalmanFilter::getMeasureDimension

(

)

const

Definition at line 150 of file usUnscentedKalmanFilter.cpp.

References m_measureDimension.

getMeasureNoiseCovarianceMatrix()

vpMatrix usUnscentedKalmanFilter::getMeasureNoiseCovarianceMatrix

(

)

const

Definition at line 288 of file usUnscentedKalmanFilter.cpp.

References m_measureNoiseCovarianceMatrix.

getMeasureNoiseDimension()

int usUnscentedKalmanFilter::getMeasureNoiseDimension

(

)

const

Definition at line 198 of file usUnscentedKalmanFilter.cpp.

References m_measureNoiseDimension.

getMeasureNoiseType()

usUnscentedKalmanFilter::NoiseType usUnscentedKalmanFilter::getMeasureNoiseType

(

)

const

Definition at line 188 of file usUnscentedKalmanFilter.cpp.

References m_measureNoiseType.

getProcessNoiseCovarianceMatrix()

vpMatrix usUnscentedKalmanFilter::getProcessNoiseCovarianceMatrix

(

)

const

Definition at line 266 of file usUnscentedKalmanFilter.cpp.

References m_processNoiseCovarianceMatrix.

getProcessNoiseDimension()

int usUnscentedKalmanFilter::getProcessNoiseDimension

(

)

const

Definition at line 175 of file usUnscentedKalmanFilter.cpp.

References m_processNoiseDimension.

getProcessNoiseType()

usUnscentedKalmanFilter::NoiseType usUnscentedKalmanFilter::getProcessNoiseType

(

)

const

Definition at line 165 of file usUnscentedKalmanFilter.cpp.

References m_processNoiseType.

getSigmaPointGenerationType()

usUnscentedKalmanFilter::SigmaPointGenerationType usUnscentedKalmanFilter::getSigmaPointGenerationType

(

)

const

Definition at line 211 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsGenerationType.

getSigmaPointScalingFactor()

double usUnscentedKalmanFilter::getSigmaPointScalingFactor

(

)

const

Definition at line 221 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsScalingFactor.

getSigmaPointSpreadThreshold()

double usUnscentedKalmanFilter::getSigmaPointSpreadThreshold

(

)

const

Definition at line 231 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsSpreadThreshold.

getState()

vpColVector usUnscentedKalmanFilter::getState

(

)

const

Definition at line 242 of file usUnscentedKalmanFilter.cpp.

References m_state.

getStateCovarianceMatrix()

vpMatrix usUnscentedKalmanFilter::getStateCovarianceMatrix

(

)

const

Definition at line 254 of file usUnscentedKalmanFilter.cpp.

References m_stateCovarianceMatrix.

getStateDimension()

int usUnscentedKalmanFilter::getStateDimension

(

)

const

Definition at line 133 of file usUnscentedKalmanFilter.cpp.

References m_stateDimension.

measureLog()

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

virtual

Reimplemented in usTissueTranslationEstimatorUKF.

Definition at line 597 of file usUnscentedKalmanFilter.cpp.

Referenced by computeSigmaMeasures(), and updateState().

propagateSigmaPoint()

virtual vpColVector usUnscentedKalmanFilter::propagateSigmaPoint ( const vpColVector &  sigmaPoint )

pure virtual

Implemented in usTissueTranslationEstimatorUKF.

Referenced by computePropagatedSigmaPoints().

setMeasureDimension()

void usUnscentedKalmanFilter::setMeasureDimension

(

int

dim

)

Definition at line 155 of file usUnscentedKalmanFilter.cpp.

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

Referenced by usTissueTranslationEstimatorUKF::checkConsistency(), and usTissueTranslationEstimatorUKF::setMeasureType().

setMeasureNoiseCovarianceMatrix()

void usUnscentedKalmanFilter::setMeasureNoiseCovarianceMatrix

(

const vpMatrix &

cov

)

Definition at line 293 of file usUnscentedKalmanFilter.cpp.

References m_measureNoiseCovarianceMatrix, and m_measureNoiseDimension.

setMeasureNoiseDimension()

void usUnscentedKalmanFilter::setMeasureNoiseDimension

(

int

dim

)

Definition at line 203 of file usUnscentedKalmanFilter.cpp.

References m_measureNoiseCovarianceMatrix, and m_measureNoiseDimension.

Referenced by usTissueTranslationEstimatorUKF::checkConsistency().

setMeasureNoiseType()

void usUnscentedKalmanFilter::setMeasureNoiseType

(

NoiseType

type

)

Definition at line 193 of file usUnscentedKalmanFilter.cpp.

References m_measureNoiseType.

setProcessNoiseCovarianceMatrix()

void usUnscentedKalmanFilter::setProcessNoiseCovarianceMatrix

(

const vpMatrix &

cov

)

Definition at line 271 of file usUnscentedKalmanFilter.cpp.

References m_processNoiseCovarianceMatrix, and m_processNoiseDimension.

setProcessNoiseDimension()

void usUnscentedKalmanFilter::setProcessNoiseDimension

(

int

dim

)

Definition at line 180 of file usUnscentedKalmanFilter.cpp.

References m_processNoiseCovarianceMatrix, and m_processNoiseDimension.

setProcessNoiseType()

void usUnscentedKalmanFilter::setProcessNoiseType

(

NoiseType

type

)

Definition at line 170 of file usUnscentedKalmanFilter.cpp.

References m_processNoiseType.

setSigmaPointGenerationType()

void usUnscentedKalmanFilter::setSigmaPointGenerationType

(

usUnscentedKalmanFilter::SigmaPointGenerationType

type

)

Definition at line 216 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsGenerationType.

setSigmaPointScalingFactor()

void usUnscentedKalmanFilter::setSigmaPointScalingFactor

(

double

factor

)

Definition at line 226 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsScalingFactor.

setSigmaPointSpreadThreshold()

void usUnscentedKalmanFilter::setSigmaPointSpreadThreshold

(

double

threshold

)

Definition at line 236 of file usUnscentedKalmanFilter.cpp.

References m_sigmaPointsSpreadThreshold.

setState()

void usUnscentedKalmanFilter::setState

(

const vpColVector &

state

)

Definition at line 247 of file usUnscentedKalmanFilter.cpp.

References m_state, and m_stateDimension.

setStateCovarianceMatrix()

void usUnscentedKalmanFilter::setStateCovarianceMatrix

(

const vpMatrix &

mat

)

Definition at line 259 of file usUnscentedKalmanFilter.cpp.

References m_stateCovarianceMatrix, and m_stateDimension.

setStateDimension()

void usUnscentedKalmanFilter::setStateDimension

(

int

dim

)

Definition at line 138 of file usUnscentedKalmanFilter.cpp.

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

Referenced by usTissueTranslationEstimatorUKF::setStateDynamicsType(), and usTissueTranslationEstimatorUKF::usTissueTranslationEstimatorUKF().

stateExp()

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

virtual

Definition at line 609 of file usUnscentedKalmanFilter.cpp.

Referenced by updateState().

stateLog()

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

virtual

Definition at line 603 of file usUnscentedKalmanFilter.cpp.

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

stateNorm()

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

virtual

Reimplemented in usTissueTranslationEstimatorUKF.

Definition at line 592 of file usUnscentedKalmanFilter.cpp.

Referenced by generateSigmaPoints().

updateState()

bool usUnscentedKalmanFilter::updateState

(

)

Definition at line 554 of file usUnscentedKalmanFilter.cpp.

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

Referenced by filter().

Member Data Documentation

m_computeMeasureNoiseCovarianceMatrixAutomatically

bool usUnscentedKalmanFilter::m_computeMeasureNoiseCovarianceMatrixAutomatically

protected

Definition at line 72 of file usUnscentedKalmanFilter.h.

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

m_computeProcessNoiseCovarianceMatrixAutomatically

bool usUnscentedKalmanFilter::m_computeProcessNoiseCovarianceMatrixAutomatically

protected

Definition at line 68 of file usUnscentedKalmanFilter.h.

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

m_measure

vpColVector usUnscentedKalmanFilter::m_measure

protected

Definition at line 74 of file usUnscentedKalmanFilter.h.

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

m_measureDimension

unsigned int usUnscentedKalmanFilter::m_measureDimension

protected

Definition at line 59 of file usUnscentedKalmanFilter.h.

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

m_measureNoiseCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_measureNoiseCovarianceMatrix

protected

Definition at line 71 of file usUnscentedKalmanFilter.h.

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

m_measureNoiseDimension

unsigned int usUnscentedKalmanFilter::m_measureNoiseDimension

protected

Definition at line 61 of file usUnscentedKalmanFilter.h.

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

m_measureNoiseType

NoiseType usUnscentedKalmanFilter::m_measureNoiseType

protected

Definition at line 70 of file usUnscentedKalmanFilter.h.

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

m_measureSigmaCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_measureSigmaCovarianceMatrix

protected

Definition at line 89 of file usUnscentedKalmanFilter.h.

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

m_measureSigmaMean

vpColVector usUnscentedKalmanFilter::m_measureSigmaMean

protected

Definition at line 86 of file usUnscentedKalmanFilter.h.

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

m_processNoiseCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_processNoiseCovarianceMatrix

protected

Definition at line 67 of file usUnscentedKalmanFilter.h.

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

m_processNoiseDimension

unsigned int usUnscentedKalmanFilter::m_processNoiseDimension

protected

Definition at line 60 of file usUnscentedKalmanFilter.h.

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

m_processNoiseType

NoiseType usUnscentedKalmanFilter::m_processNoiseType

protected

Definition at line 66 of file usUnscentedKalmanFilter.h.

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

m_sigmaPointsCovarianceWeights

vpColVector usUnscentedKalmanFilter::m_sigmaPointsCovarianceWeights

protected

Definition at line 81 of file usUnscentedKalmanFilter.h.

Referenced by computeMeansAndCovarianceMatricesFromSigmaPoints(), and generateSigmaPoints().

m_sigmaPointsGenerationType

SigmaPointGenerationType usUnscentedKalmanFilter::m_sigmaPointsGenerationType

protected

Definition at line 76 of file usUnscentedKalmanFilter.h.

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

m_sigmaPointsInit

vpMatrix usUnscentedKalmanFilter::m_sigmaPointsInit

protected

Definition at line 77 of file usUnscentedKalmanFilter.h.

Referenced by computePropagatedSigmaPoints(), and generateSigmaPoints().

m_sigmaPointsMeanWeights

vpColVector usUnscentedKalmanFilter::m_sigmaPointsMeanWeights

protected

Definition at line 80 of file usUnscentedKalmanFilter.h.

Referenced by computeMeansAndCovarianceMatricesFromSigmaPoints(), and generateSigmaPoints().

m_sigmaPointsMeasure

vpMatrix usUnscentedKalmanFilter::m_sigmaPointsMeasure

protected

Definition at line 79 of file usUnscentedKalmanFilter.h.

Referenced by computeMeansAndCovarianceMatricesFromSigmaPoints(), and computeSigmaMeasures().

m_sigmaPointsPropagated

vpMatrix usUnscentedKalmanFilter::m_sigmaPointsPropagated

protected

Definition at line 78 of file usUnscentedKalmanFilter.h.

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

m_sigmaPointsScalingFactor

double usUnscentedKalmanFilter::m_sigmaPointsScalingFactor

protected

Definition at line 82 of file usUnscentedKalmanFilter.h.

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

m_sigmaPointsSpreadThreshold

double usUnscentedKalmanFilter::m_sigmaPointsSpreadThreshold

protected

Definition at line 83 of file usUnscentedKalmanFilter.h.

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

m_state

vpColVector usUnscentedKalmanFilter::m_state

protected

Definition at line 63 of file usUnscentedKalmanFilter.h.

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

m_stateCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_stateCovarianceMatrix

protected

Definition at line 64 of file usUnscentedKalmanFilter.h.

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

m_stateDimension

unsigned int usUnscentedKalmanFilter::m_stateDimension

protected

Definition at line 58 of file usUnscentedKalmanFilter.h.

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

m_stateMeasureSigmaCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_stateMeasureSigmaCovarianceMatrix

protected

Definition at line 88 of file usUnscentedKalmanFilter.h.

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

m_stateSigmaCovarianceMatrix

vpMatrix usUnscentedKalmanFilter::m_stateSigmaCovarianceMatrix

protected

Definition at line 87 of file usUnscentedKalmanFilter.h.

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

m_stateSigmaMean

vpColVector usUnscentedKalmanFilter::m_stateSigmaMean

protected

Definition at line 85 of file usUnscentedKalmanFilter.h.

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