Class cv::detail::UkfSystemModel#

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.

#include <opencv2/tracking/kalman_filters.hpp>

Collaboration diagram for cv::detail::UkfSystemModel:

cv::detail::tracking::kalman_filters::UkfSystemModel Node1 cv::detail::tracking ::kalman_filters::UkfSystem Model   + ~UkfSystemModel() + measurementFunction() + stateConversionFunction()

cv::detail::tracking::kalman_filters::UkfSystemModel Node1 cv::detail::tracking ::kalman_filters::UkfSystem Model   + ~UkfSystemModel() + measurementFunction() + stateConversionFunction()

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()#

cv::detail::UkfSystemModel::~UkfSystemModel()

Member Function Documentation#

measurementFunction()#

void cv::detail::UkfSystemModel::measurementFunction(
const Mat & x_k,
const Mat & n_k,
Mat & z_k )

The function for computing the measurement from the state

Parameters

  • x_k — - state vector,

  • n_k — - noise vector,

  • z_k — - measurement vector.

stateConversionFunction()#

void cv::detail::UkfSystemModel::stateConversionFunction(
const Mat & x_k,
const Mat & u_k,
const Mat & v_k,
Mat & x_kplus1 )

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.

Source file#

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