kalman.h File Reference

#include <stdint.h>
#include <rc/math/vector.h>
#include <rc/math/matrix.h>

Go to the source code of this file.

Data Structures
struct	rc_kalman_t

Macros
#define	RC_KALMAN_INITIALIZER

Typedefs
typedef struct rc_kalman_t	rc_kalman_t

Functions
rc_kalman_t	rc_kalman_empty (void)
	Critical function for initializing rc_kalman_t structs. More...
int	rc_kalman_alloc_lin (rc_kalman_t *kf, rc_matrix_t F, rc_matrix_t G, rc_matrix_t H, rc_matrix_t Q, rc_matrix_t R, rc_matrix_t Pi)
	Allocates memory for a Kalman filter of given dimensions. More...
int	rc_kalman_alloc_ekf (rc_kalman_t *kf, rc_matrix_t Q, rc_matrix_t R, rc_matrix_t Pi)
	Allocates memory for a Kalman filter of given dimensions. More...
int	rc_kalman_free (rc_kalman_t *kf)
	Frees the memory allocated by a kalman filter's matrices and vectors. Also resets all values to 0 like rc_kalman_empty(). More...
int	rc_kalman_reset (rc_kalman_t *kf)
	reset state and dynamics of the filter to 0 More...
int	rc_kalman_update_lin (rc_kalman_t *kf, rc_vector_t u, rc_vector_t y)
	Kalman Filter state prediction step based on physical model. More...
int	rc_kalman_update_ekf (rc_kalman_t *kf, rc_matrix_t F, rc_matrix_t H, rc_vector_t x_pre, rc_vector_t y, rc_vector_t h)
	Kalman Filter measurement update step. More...