Class ProcessNoise¶

Defined in File adaptive_process_noise.h

Class Documentation¶

class ProcessNoise¶

Public Functions

ProcessNoise() = default¶

void Update(const VecXd &dx, const MatXd &Sigma_dx, const MatXd &P_bar, const MatXd &P_post)¶

MatXd ComputeAccNoise()¶

MatXd ComputeProcessNoise()¶

inline void SetAlgorithm(ProcessNoiseAlgorithm algorithm)¶

inline void SetWaitSteps(int N_wait)¶

inline void SetWindowSize(int N_window)¶

inline void SetNoiseLimits(double sigma_min, double sigma_max)¶

inline void SetTimeStep(double dt)¶

std::tuple<MatXd, MatXd> ComputeSlidingWindowStats()¶

ArrXd SolveForQtilde(const MatXd &Q_hat, const MatXd &Sigma_bar, const MatXd &C_coeffs)¶

inline void SetProcessNoise(const MatXd &Q_a)¶

inline void SetBeta(const VecXd &beta)¶

inline void SetAlpha(double alpha)¶

void Reset()¶

ProcessNoiseFunction GetProcessNoiseFunction()¶

Protected Attributes

int step_ = 0¶

int N_wait_ = 0¶

int N_window_ = 30¶

double Q_diag_min_ = 0.0¶

double Q_diag_max_ = 1.0¶

double dt_ = -1.0¶

MatXd Q_a_¶

VecXd beta_¶

ProcessNoiseAlgorithm algorithm_ = ProcessNoiseAlgorithm::ASNC ¶

double alpha_ = 1.0¶

MatXd Q_tilde_diag_¶

std::deque<VecXd> dx_list_¶

std::deque<MatXd> P_post_list_¶

std::deque<MatXd> P_bar_list_¶

std::deque<MatXd> Sigma_dx_list_¶