Package edu.wpi.first.math.estimator

Interface SigmaPoints<States extends Num>

Type Parameters:
States - The dimensionality of the state.
All Known Implementing Classes:
MerweScaledSigmaPoints, S3SigmaPoints
public interface SigmaPoints<States extends Num>
A sigma points generator for the UnscentedKalmanFilter class.

  • Method Summary

    Modifier and Type
    Method
    Description
    int
    getNumSigmas()
    Returns number of sigma points for each variable in the state x.
    Matrix<?,N1>
    getWc()
    Returns the weight for each sigma point for the covariance.
    double
    getWc(int element)
    Returns an element of the weight for each sigma point for the covariance.
    Matrix<?,N1>
    getWm()
    Returns the weight for each sigma point for the mean.
    double
    getWm(int element)
    Returns an element of the weight for each sigma point for the mean.
    Matrix<States,?>
    squareRootSigmaPoints(Matrix<States,N1> x, Matrix<States,States> s)
    Computes the sigma points for an unscented Kalman filter given the mean (x) and square-root covariance (s) of the filter.

  • Method Details

    • getNumSigmas

      int getNumSigmas()
      Returns number of sigma points for each variable in the state x.
      Returns:
      The number of sigma points for each variable in the state x.

    • squareRootSigmaPoints

      Matrix<States,?> squareRootSigmaPoints(Matrix<States,N1> x, Matrix<States,States> s)
      Computes the sigma points for an unscented Kalman filter given the mean (x) and square-root covariance (s) of the filter.
      Parameters:
      x - An array of the means.
      s - Square-root covariance of the filter.
      Returns:
      Two-dimensional array of sigma points. Each column contains all the sigmas for one dimension in the problem space. Ordered by Xi_0, Xi_{1..n}, Xi_{n+1..2n}.

    • getWm

      Matrix<?,N1> getWm()
      Returns the weight for each sigma point for the mean.
      Returns:
      the weight for each sigma point for the mean.

    • getWm

      double getWm(int element)
      Returns an element of the weight for each sigma point for the mean.
      Parameters:
      element - Element of vector to return.
      Returns:
      the element i's weight for the mean.

    • getWc

      Matrix<?,N1> getWc()
      Returns the weight for each sigma point for the covariance.
      Returns:
      the weight for each sigma point for the covariance.

    • getWc

      double getWc(int element)
      Returns an element of the weight for each sigma point for the covariance.
      Parameters:
      element - Element of vector to return.
      Returns:
      The element I's weight for the covariance.