clockwerk::Measurements< T, N, M, O > Class Template Reference

#include <Measurements.hpp>

Inheritance diagram for clockwerk::Measurements< T, N, M, O >:

Public Member Functions
virtual int	calculateMeasurements (T time, const std::array< T, N > &tar_state, const std::array< T, O > &obs_state, std::array< T, M > &out_measurements)
	Function to calculate range and range rate from current state of system.

Detailed Description

template<typename T, unsigned int N, unsigned int M, unsigned int O>
class clockwerk::Measurements< T, N, M, O >

The measurements class defines a generic, templated base class which may be used generically as a measurement update in the EKF measurement update class. The values N, M, and O should be assigned and are defined as follows: N - The number of states in the target state vector. i.e. 3 for [x, y, z] M - The number of measurements produced by the function. i.e. 2 for [range, rangerate] O - The number of observer states. May be unused but could be i.e. another [x, y, z] for range

This class should be inherited from and applied via implementation of the calcMeasurements function.

Member Function Documentation

calculateMeasurements()

template<typename T , unsigned int N, unsigned int M, unsigned int O>

virtual int clockwerk::Measurements< T, N, M, O >::calculateMeasurements ( T  time, const std::array< T, N > &  tar_state, const std::array< T, O > &  obs_state, std::array< T, M > &  out_measurements  )

inlinevirtual

Function to calculate range and range rate from current state of system.

Parameters

time	The reference time
tar_state	The target reference state
obs_state	The observer reference state
out_measurements	Implicit return of measurements based on time, state

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

• /home/mickey/modelspace/clockwerk/src/utils/Measurements.hpp