UKF2 Class Reference

Public Member Functions
	UKF2 (void)
	Constructor.
	~UKF2 ()
	Destructor.
void	initialize (void)
	Initialize the filter.
void	predict (void)
	Perform a prediction.
void	update (void)
	Perform a measurement update.
void	set_state_covariance (const ml_matrix &q)
	Set the state covariance.
void	set_measurement_covariance (const ml_matrix &r)
	Set the measurement covariance.
void	set_mean (const ml_matrix &m)
	Set the mean value.
void	set_measurement (const ml_matrix &y)
	Set the measurement.
void	set_covariance (const ml_matrix &p)
	Set the covariance.
void	set_filter_parameters (double alpha, double kappa, double beta)
	Set the UKF parameters.
void	set_integrator_time_step (double dT)
	Set the integrator time step.
void	set_state_function (state_func state_fun)
	Set the state function.
void	set_integrator (integ_func integ_fun)
	Set the integrator function.
void	set_measurement_function (meas_2_func meas_fun)
	Set the measurement function.
void	set_propagate_function (propagate_func propagate_fun)
	Set the measurement function.
void	set_context_rhs (void *context)
	Set the context pointer for data needed by the state functions.
void	set_context_meas (void *context)
	Set the context pointer for data needed by the measurement functions.
ml_matrix	get_mean (void)
	Get the mean value.
ml_matrix	get_covariance (void)
	Get the covariance.
ml_matrix	get_residual (void)
	Get the measurement residual.

Public Attributes
state_func	state_fp
	The state propagation right hand side.
integ_func	integ_fp
	The integrator used to propagate the state.
meas_2_func	meas_fp
	The measurement function.
propagate_func	propagate_fp
	The propagate function.
void *	ctx_rhs
	The context pointer provided to the propagate and right hand side functions.
void *	ctx_meas
	The context pointer provided to the measurement functions.