Package edu.wpi.first.math.estimator

Class KalmanFilterLatencyCompensator<S extends Num,I extends Num,O extends Num>

java.lang.Object

edu.wpi.first.math.estimator.KalmanFilterLatencyCompensator<S,I,O>

Type Parameters:

S - The number of states.

I - The number of inputs.

O - The number of outputs.

public class KalmanFilterLatencyCompensator<S extends Num,I extends Num,O extends Num>
extends Object

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

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
final class	KalmanFilterLatencyCompensator.ObserverSnapshot	This class contains all the information about our observer at a given time.

Method Summary

Modifier and Type	Method	Description
void	addObserverState(KalmanTypeFilter<S,I,O> observer, Matrix<I,N1> u, Matrix<O,N1> localY, double timestampSeconds)	Add past observer states to the observer snapshots list.
<R extends Num> void	applyPastGlobalMeasurement(Nat<R> rows, KalmanTypeFilter<S,I,O> observer, double nominalDtSeconds, Matrix<R,N1> y, BiConsumer<Matrix<I,N1>,Matrix<R,N1>> globalMeasurementCorrect, double timestampSeconds)	Add past global measurements (such as from vision)to the estimator.
void	reset()	Clears the observer snapshot buffer.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

reset

public void reset()

Clears the observer snapshot buffer.

addObserverState

public void addObserverState(KalmanTypeFilter<S,I,O> observer,
 Matrix<I,N1> u,
 Matrix<O,N1> localY,
 double timestampSeconds)

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

timestampSeconds - The timestamp of the state.

applyPastGlobalMeasurement

public <R extends Num> void applyPastGlobalMeasurement(Nat<R> rows,
 KalmanTypeFilter<S,I,O> observer,
 double nominalDtSeconds,
 Matrix<R,N1> y,
 BiConsumer<Matrix<I,N1>,Matrix<R,N1>> globalMeasurementCorrect,
 double timestampSeconds)

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

Type Parameters:

R - The rows in the global measurement vector.

Parameters:

rows - The rows in the global measurement vector.

observer - The observer to apply the past global measurement.

nominalDtSeconds - The nominal timestep.

y - The measurement.

globalMeasurementCorrect - The function take calls correct() on the observer.

timestampSeconds - The timestamp of the measurement.