Structure holding the parameters of the statistical linearization. More...

#include <ukf_types.h>

Public Attributes
double	kpa
	$\kappa \geq 0$ , $\kappa = 0$ is a good choice. According to van der Merwe, its value is not critical More...

double	alpha
	$0 \leq \alpha \leq 1$ : "Size" of sigma-point distribution. Should be small if the function is strongly non-linear More...

double	beta
	Non negative weights used to introduce knowledge about the higher order moments of the distribution. For gaussian distributions, $\beta = 2$ is a good choice. More...

double	lambda
	$\lambda = \alpha^2 (n + \kappa) - n$ More...

double	lambda_aug

double	gamma
	$\gamma = \sqrt{\lambda + n}$ More...

double	gamma_aug

int	n
	Size of the state vector. More...

int	nbSamples
	Number of sigma-points More...

int	nbSamplesMeasure
	Number of sigma-points More...

int	no
	Dimension of the output : the measurements. More...

double	prior_x
	Prior estimate of the covariance matrix of the state. More...

ProcessNoise	process_noise_type
	Type of process noise. More...

double	process_noise
	Parameter used for the evolution noise. More...

double	measurement_noise
	Covariance of the observation noise. More...

Detailed Description

Structure holding the parameters of the statistical linearization.

Member Data Documentation

double ukf::srstate::ukf_param::alpha

$0 \leq \alpha \leq 1$ : "Size" of sigma-point distribution. Should be small if the function is strongly non-linear

double ukf::srstate::ukf_param::beta

Non negative weights used to introduce knowledge about the higher order moments of the distribution. For gaussian distributions, $\beta = 2$ is a good choice.

double ukf::srstate::ukf_param::gamma

$\gamma = \sqrt{\lambda + n}$

double ukf::srstate::ukf_param::gamma_aug

double ukf::srstate::ukf_param::kpa

$\kappa \geq 0$ , $\kappa = 0$ is a good choice. According to van der Merwe, its value is not critical

double ukf::srstate::ukf_param::lambda

$\lambda = \alpha^2 (n + \kappa) - n$

double ukf::srstate::ukf_param::lambda_aug

double ukf::srstate::ukf_param::measurement_noise

Covariance of the observation noise.

int ukf::srstate::ukf_param::n

Size of the state vector.

int ukf::srstate::ukf_param::nbSamples

$nbSamples = (2 n + 1)$ Number of sigma-points

int ukf::srstate::ukf_param::nbSamplesMeasure

$nbSamplesMeasure = (4 n + 1)$ Number of sigma-points

int ukf::srstate::ukf_param::no

Dimension of the output : the measurements.

double ukf::srstate::ukf_param::prior_x

Prior estimate of the covariance matrix of the state.

double ukf::srstate::ukf_param::process_noise

Parameter used for the evolution noise.

ProcessNoise ukf::srstate::ukf_param::process_noise_type

Type of process noise.

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

/home/fix_jer/SVN/easykf_trunk/trunk/easykf-2.04/src/ukf_types.h

Public Attributes

Detailed Description

Member Data Documentation