frc::KalmanFilterLatencyCompensator< States, Inputs, Outputs, KalmanFilterType > Class Template Reference

This class incorporates time-delayed measurements into a Kalman filter's state estimate. More...

#include <frc/estimator/KalmanFilterLatencyCompensator.h>

Classes
struct	ObserverSnapshot
	This class contains all the information about our observer at a given time. More...

Public Member Functions
void	Reset ()
	Clears the observer snapshot buffer. More...
void	AddObserverState (const KalmanFilterType &observer, Vectord< Inputs > u, Vectord< Outputs > localY, units::second_t timestamp)
	Add past observer states to the observer snapshots list. More...
template<int Rows>
void	ApplyPastGlobalMeasurement (KalmanFilterType *observer, units::second_t nominalDt, Vectord< Rows > y, std::function< void(const Vectord< Inputs > &u, const Vectord< Rows > &y)> globalMeasurementCorrect, units::second_t timestamp)
	Add past global measurements (such as from vision)to the estimator. More...

Detailed Description

template<int States, int Inputs, int Outputs, typename KalmanFilterType>
class frc::KalmanFilterLatencyCompensator< States, Inputs, Outputs, KalmanFilterType >

This class incorporates time-delayed measurements into a Kalman filter's state estimate.

Template Parameters

States	The number of states.
Inputs	The number of inputs.
Outputs	The number of outputs.

Member Function Documentation

AddObserverState()

template<int States, int Inputs, int Outputs, typename KalmanFilterType >

void frc::KalmanFilterLatencyCompensator< States, Inputs, Outputs, KalmanFilterType >::AddObserverState ( const KalmanFilterType &  observer, Vectord< Inputs >  u, Vectord< Outputs >  localY, units::second_t  timestamp  )

inline

Add past observer states to the observer snapshots list.

Parameters

observer	The observer.
u	The input at the timestamp.
localY	The local output at the timestamp
timestamp	The timesnap of the state.

ApplyPastGlobalMeasurement()

template<int States, int Inputs, int Outputs, typename KalmanFilterType >

template<int Rows>

void frc::KalmanFilterLatencyCompensator< States, Inputs, Outputs, KalmanFilterType >::ApplyPastGlobalMeasurement ( KalmanFilterType *  observer, units::second_t  nominalDt, Vectord< Rows >  y, std::function< void(const Vectord< Inputs > &u, const Vectord< Rows > &y)>  globalMeasurementCorrect, units::second_t  timestamp  )

inline

Add past global measurements (such as from vision)to the estimator.

Parameters

observer	The observer to apply the past global measurement.
nominalDt	The nominal timestep.
y	The measurement.
globalMeasurementCorrect	The function take calls correct() on the observer.
timestamp	The timestamp of the measurement.

Reset()

template<int States, int Inputs, int Outputs, typename KalmanFilterType >

void frc::KalmanFilterLatencyCompensator< States, Inputs, Outputs, KalmanFilterType >::Reset ( )

inline

Clears the observer snapshot buffer.

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

• frc/estimator/KalmanFilterLatencyCompensator.h