rc_kalman_t Struct Reference

Collaboration diagram for rc_kalman_t:

Public Attributes
State Transition Matrices for linear filter only
rc_matrix_t	F
	undriven state-transition model
rc_matrix_t	G
	control input model
rc_matrix_t	H
	observation-model
Covariance Matrices
rc_matrix_t	Q
	Process noise covariance set by user.
rc_matrix_t	R
	Measurement noise covariance set by user.
rc_matrix_t	P
	Predicted state error covariance calculated by the update functions.
rc_matrix_t	Pi
	Initial P matrix set by user.
State estimates
rc_vector_t	x_est
	Estimated state x[k|k] = x[k|k-1],y[k])
rc_vector_t	x_pre
	Predicted state x[k|k-1] = f(x[k-1],u[k])
other
int	initialized
	set to 1 once initialized with rc_kalman_alloc
uint64_t	step
	counts times rc_kalman_measurement_update has been called

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The documentation for this struct was generated from the following file:

• /home/xssun/Workspace/botlab_ws/mbot_firmware/rc/include/rc/math/kalman.h