adaptive_kalman_filter.h

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/******************************************************************************
 * Copyright 2018 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the License);
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include "Eigen/Core"
 
#include "modules/perception/radar_detection/interface/base_filter.h"
 
namespace apollo {
namespace perception {
namespace radar {
 
class AdaptiveKalmanFilter : public BaseFilter {
 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
 public:
  AdaptiveKalmanFilter();
  ~AdaptiveKalmanFilter();
 
  void Init(const base::Object& object) override;
 
  Eigen::VectorXd Predict(const double time_diff) override;
 
  Eigen::VectorXd UpdateWithObject(const base::Object& new_object,
                                   double time_diff) override;
 
  void GetState(Eigen::Vector3d* anchor_point, Eigen::Vector3d* velocity);
 
  Eigen::Matrix4d GetCovarianceMatrix() override { return p_matrix_; }
 
  static void SetQMatrixRatio(double q_matrix_ratio) {
    s_q_matrix_ratio_ = q_matrix_ratio;
  }
 
 private:
  Eigen::Vector3d belief_anchor_point_;
  Eigen::Vector3d belief_velocity_;
  Eigen::Vector4d priori_state_;
  Eigen::Vector4d posteriori_state_;
  Eigen::Matrix4d p_matrix_;
  // the state-transition matrix
  Eigen::Matrix4d a_matrix_;
  // the observation mode
  Eigen::Matrix4d c_matrix_;
  // the covariance of the process noise
  Eigen::Matrix4d q_matrix_;
  //  the covariance of the observation noise
  Eigen::Matrix4d r_matrix_;
  // Optimal Kalman gain
  Eigen::Matrix4d k_matrix_;
  static double s_q_matrix_ratio_;
};
 
}  // namespace radar
}  // namespace perception
}  // namespace apollo