OpenCV  4.0.0
Open Source Computer Vision
Public Member Functions | List of all members
cv::tracking::UkfSystemModel Class Referenceabstract

Model of dynamical system for Unscented Kalman filter. The interface for dynamical system model. It contains functions for computing the next state and the measurement. It must be inherited for using UKF. More...

#include "kalman_filters.hpp"

Public Member Functions

virtual ~UkfSystemModel ()
 
virtual void measurementFunction (const Mat &x_k, const Mat &n_k, Mat &z_k)=0
 
virtual void stateConversionFunction (const Mat &x_k, const Mat &u_k, const Mat &v_k, Mat &x_kplus1)=0
 

Detailed Description

Model of dynamical system for Unscented Kalman filter. The interface for dynamical system model. It contains functions for computing the next state and the measurement. It must be inherited for using UKF.

Constructor & Destructor Documentation

§ ~UkfSystemModel()

virtual cv::tracking::UkfSystemModel::~UkfSystemModel ( )
inlinevirtual

Member Function Documentation

§ measurementFunction()

virtual void cv::tracking::UkfSystemModel::measurementFunction ( const Mat x_k,
const Mat n_k,
Mat z_k 
)
pure virtual

The function for computing the measurement from the state

Parameters
x_k- state vector,
n_k- noise vector,
z_k- measurement vector.

§ stateConversionFunction()

virtual void cv::tracking::UkfSystemModel::stateConversionFunction ( const Mat x_k,
const Mat u_k,
const Mat v_k,
Mat x_kplus1 
)
pure virtual

The function for computing the next state from the previous state

Parameters
x_k- previous state vector,
u_k- control vector,
v_k- noise vector,
x_kplus1- next state vector.

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