#include <kalman_filter.h>

apollo::perception::camera::MeanFilter 的协作图:

Public 成员函数
	MeanFilter ()

void	SetWindow (int window)

void	AddMeasure (const Eigen::VectorXd &z)

const Eigen::VectorXd &	get_state () const

const Eigen::MatrixXd &	get_variance () const

int	size () const

详细描述

在文件 kalman_filter.h 第 167 行定义.

构造及析构函数说明

◆ MeanFilter()

apollo::perception::camera::MeanFilter::MeanFilter ( )

inline

在文件 kalman_filter.h 第 169 行定义.

169: index_(0), window_(1) {}

成员函数说明

◆ AddMeasure()

void apollo::perception::camera::MeanFilter::AddMeasure ( const Eigen::VectorXd & z )

在文件 kalman_filter.cc 第 147 行定义.

                                                  {
  if (measures_.size() < static_cast<unsigned int>(window_)) {
    measures_.push_back(z);
  } else {
    measures_[index_] = z;
  }
  index_ = (index_ + 1) % window_;
  int n = static_cast<int>(measures_.size());
 
  state_.resizeLike(z);
  state_.setConstant(0);
  for (int i = 0; i < n; ++i) {
    state_ += measures_[i];
  }
  state_ = state_ / n;
 
  variance_.resize(state_.rows(), state_.rows());
  variance_.setConstant(0);
  for (int i = 0; i < n; ++i) {
    auto z = measures_[i] - state_;
    variance_ += z * z.transpose();
  }
  if (n > 1) {
    variance_ /= n - 1;
  }
}

◆ get_state()

const Eigen::VectorXd & apollo::perception::camera::MeanFilter::get_state ( ) const

在文件 kalman_filter.cc 第 174 行定义.

174{ return state_; }

◆ get_variance()

const Eigen::MatrixXd & apollo::perception::camera::MeanFilter::get_variance ( ) const

在文件 kalman_filter.cc 第 176 行定义.

176{ return variance_; }

◆ SetWindow()

void apollo::perception::camera::MeanFilter::SetWindow ( int window )

在文件 kalman_filter.cc 第 142 行定义.

                                     {
  window_ = window;
  index_ = 0;
}

◆ size()

int apollo::perception::camera::MeanFilter::size ( ) const