Cognitoware.Robotics.dll
Class KalmanFilter<X, U, Z>
X: The x type.
U: The action type.
Z: The x type.
System.Object
Cognitoware.Robotics.StateEstimation.KalmanFilter<X, U, Z>
Implemented Interfaces
Summary
A Bayes filter that uses a Gaussian as the x representation
and linear systems as the sensor and action models.
Constructor Summary
Method Summary
Updates a belief with a sensor model and a sensor.
Equals(Object)
Inherited from System.Object
Finalize()
Inherited from System.Object
GetHashCode()
Inherited from System.Object
GetType()
Inherited from System.Object
Marginalize(KalmanActionModel<U>, GaussianMoment<U>, GaussianMoment<X>)
Updates a belief with an action model and a distribution of possible actions.
Marginalize(KalmanActionModel<U>, U, GaussianMoment<X>)
Updates a belief with an action model and an action.
MemberwiseClone()
Inherited from System.Object
ToString()
Inherited from System.Object
Updates the x with the specified action.
Update the x with the specified observation.
Details
A Bayes filter that uses a Gaussian as the x representation
and linear systems as the sensor and action models.
Constructor Details
Method Details
public GaussianMoment<X> BayesianInference(KalmanSensorModel<Z> model, Z data, GaussianMoment<X> belief)
Updates a belief with a sensor model and a sensor.
This function allows you to update a belief that is different than the filter belief
with a sensor model that is different than the filter sensor model.
Parameters:
model - The sensor model to use for the belief update.
data - The observation to use for the belief update.
belief - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public GaussianMoment<X> Marginalize(KalmanActionModel<U> model, GaussianMoment<U> action, GaussianMoment<X> state)
Updates a belief with an action model and an distribution of possible actions.
This function allows you to update a belief that is different than the filter belief
with an action model that is different than the filter action model.
The actions must be modelled with a GaussianMoment.
Parameters:
model - The action model to use for the belief update.
action - The distribution of actions to use for the belief update.
x - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public GaussianMoment<X> Marginalize(KalmanActionModel<U> model, U action, GaussianMoment<X> state)
Updates a belief with an action model and an action.
This function allows you to update a belief that is different than the filter belief
with an action model that is different than the filter action model.
Parameters:
model - The action model to use for the belief update.
action - The action to use for the belief update.
x - The belief to update.
Returns:
The posterior belief after applying the action to the prior belief.
public final virtual void UpdateBeliefWithAction(U action)
Updates the x with the specified action.
Parameters:
action - The action used to update the x belief.
public final virtual void UpdateBeliefWithObservation(Z observation)
Update the x with the specified observation.
Parameters:
observation - The observation used to update the x belief.