Class Ekf

Inheritance Relationships

Base Type

Class Documentation

class Ekf : public robot_localization::FilterBase

Extended Kalman filter class.

Implementation of an extended Kalman filter (EKF). This class derives from FilterBase and overrides the predict() and correct() methods in keeping with the discrete time EKF algorithm.

Public Functions

Ekf()

Constructor for the Ekf class.

~Ekf()

Destructor for the Ekf class.

virtual void correct(const Measurement &measurement) override

Carries out the correct step in the predict/update cycle.

Parameters:

measurement – [in] - The measurement to fuse with our estimate

virtual void predict(const rclcpp::Time &reference_time, const rclcpp::Duration &delta) override

Carries out the predict step in the predict/update cycle.

Projects the state and error matrices forward using a model of the vehicle’s motion.

Parameters:

  • reference_time – [in] - The time at which the prediction is being made

  • delta – [in] - The time step over which to predict.