IteratedExtendedKalmanFilter.h

Go to the documentation of this file.

/************************************************************************************************/
/*! \file IteratedExtendedKalmanFilter.h
*  \brief The IteratedExtendedKalmanFilter class provides functionality beyond the ExtendedKalmanFilter class for advanced calculation of the measurement update of the state.
*  \author $Author: cakinli $
*  \version $Revision: 1.9 $
*  \date    $Date: 2005/02/25 18:40:53 $
************************************************************************************************/
/*! 
*
************************************************************************************************/

#ifndef __SSSL_ITERATEDEXTENDEDKALMANFILTER_H__
#define __SSSL_ITERATEDEXTENDEDKALMANFILTER_H__

#include <Filtering/ExtendedKalmanFilter.h>

#define DEFAULT_ITERATION_LIMIT 10
#define DEFAULT_TOLERANCE 0.001

class IteratedExtendedKalmanFilter : public ExtendedKalmanFilter {

public:
        /*! Default Constructor */      
        IteratedExtendedKalmanFilter();
        
        /*! Constructor */
        IteratedExtendedKalmanFilter(double propStepSize, int IterLimit, double tol);
                
        /*! Destructor */
        virtual ~IteratedExtendedKalmanFilter() { };

        // Facilitators
        
                // Mutators
                
                        /*! Sets the limit on the number of iterations */
                        inline void SetIterationLimit(int iteratLimit) { m_iterationLimit = iteratLimit; };
        
                        /*! Sets the tolerance */
                        inline void SetTolerance(double tol) { m_tolerance = tol; };
        
                        /*! Estimates the states at the time of the measurements */
                        void EstimateState();
                        
                // Inspectors
                
                        /*! Gets the iteration limit */
                        inline int GetIterationLimit() { return m_iterationLimit; };
                        
                        /*! Gets the tolerance */
                        inline double GetTolerance() { return m_tolerance; };

                        /*! Gets the number of iterations */
                        inline int GetNumIterations() { return m_numIterations; };
                        
protected:
        
        int m_iterationLimit; /*!< The maximum number of iterations allowed. */
        double m_tolerance;       /*!< The convergence tolerance. */
        int m_numIterations;  /*!< The number of iterations used. */

private:

};

#endif 
// Do not change the comments below - they will be added automatically by CVS
/*****************************************************************************
* $Log: IteratedExtendedKalmanFilter.h,v $
* Revision 1.9  2005/02/25 18:40:53  cakinli
* Created Makefiles and organized include directives to reduce the number of
* include paths.  Reorganized libraries so that there is now one per source
* directory.  Each directory is self-contained in terms of its Makefile.
* The local Makefile in each directory includes src/config.mk, which has all
* the definitions and general and pattern rules.  So at most, to see what
* goes into building a target, a person needs to examine the Makefile in
* that directory, and ../config.mk.
*
* Revision 1.8  2003/07/12 17:57:52  simpliciter
* Added IEKF and EKF Histories.
*
* Revision 1.7  2003/07/01 21:04:45  mavandyk
* Edited default constructor, and added another constructor to set iteration and step size values.
*
* Revision 1.6  2003/07/01 20:23:53  mavandyk
* Corrected syntax errors.
*
* Revision 1.5  2003/06/30 21:47:32  mavandyk
* Added comments and pulled out structs and replaced with multiple data members.
*
* Revision 1.4  2003/06/12 16:16:00  mavandyk
* Changed all references to iterative filter to sequential filter for greater clarity.  Removed improper lines of code involving iterated filter references.
*
* Revision 1.3  2003/06/11 15:46:42  simpliciter
* Added include line for IterativeFilter.h.
*
* Revision 1.2  2003/06/11 13:08:27  simpliciter
* Minor changes.
*
* Revision 1.1  2003/06/11 03:04:43  simpliciter
* Initial submission.
*
******************************************************************************/

---