dynamicModels#

Executive Summary#

This class provides an container for all the dynamics models and components to a kalman filter. This class is a necessary component to any Kalman Filter implementation

Virtual and Private method descriptors#

The following table lists all the class methods and their function

Interface methods which remain private#

Method Name

Method Function

Protected or Private

Virtual or not

rk4

RK4 integrator

private

non-virtual

propagate

integrate the equations of motion provided in setter

public

non-virtual

computeDynamicsMatrix

compute the dynamics matrix given the partials provided in setter

public

non-virtual

Module assumptions and limitations#

Only an RK4 is provided currently as an integrator

User Guide#

This section lists all the setters and getters that are defined by the interface

Interface methods which remain private#

Method Name

Method Function

Necessity

setDynamics

set the equations of motion function

necessary

setDynamicsMatrix

set the dynamics matrix given a state

necessary for extended kalman filters
class DynamicsModel#

Measurement models used to map a state vector to a measurement.

Public Functions

FilterStateVector propagate(std::array<double, 2>, const FilterStateVector &state, double dt) const#

Call the propagation function for the dynamics

Parameters:

  • std::array<double, 2> – interval : time interval

  • FilterStateVector – state : initial state

  • double – dt: time step

Returns:

FilterStateVector propagatedState

void setDynamics(const std::function<const FilterStateVector(const double, const FilterStateVector&)> &dynamicsPropagator)#

Set the propagation function for the dynamics

Parameters:

std::function<const – FilterStateVector(const FilterStateVector&)>& dynamicsPropagator

Eigen::MatrixXd computeDynamicsMatrix(double time, const FilterStateVector &state) const#

Call the dynamics matrix containing the partials of the dynamics with respect to the state

Parameters:

std::function<const – Eigen::MatrixXd(const FilterStateVector&)>& dynamicsMatrixCalculator

void setDynamicsMatrix(const std::function<const Eigen::MatrixXd(const double, const FilterStateVector&)> &dynamicsMatrixCalculator)#

Set the dynamics matrix containing the partials of the dynamics with respect to the state

Parameters:

std::function<const – Eigen::MatrixXd(const FilterStateVector&)>& dynamicsMatrixCalculator