lejos.util
Class KalmanFilter

java.lang.Object
  extended by lejos.util.KalmanFilter

public class KalmanFilter
extends java.lang.Object

Implementation of a Kalman filter using the Matrix class


Constructor Summary
KalmanFilter(Matrix a, Matrix b, Matrix c, Matrix q, Matrix r)
           
 
Method Summary
 Matrix getCovariance()
           
 Matrix getGain()
           
 Matrix getMean()
           
 Matrix getPredictedCovariance()
           
 Matrix getPredictedMean()
           
 void setState(Matrix mean, Matrix covariance)
           
 void update(Matrix control, Matrix measurement)
           
 
Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

KalmanFilter

public KalmanFilter(Matrix a,
                    Matrix b,
                    Matrix c,
                    Matrix q,
                    Matrix r)
Method Detail

setState

public void setState(Matrix mean,
                     Matrix covariance)

update

public void update(Matrix control,
                   Matrix measurement)

getMean

public Matrix getMean()

getCovariance

public Matrix getCovariance()

getPredictedMean

public Matrix getPredictedMean()

getPredictedCovariance

public Matrix getPredictedCovariance()

getGain

public Matrix getGain()