Class KalmanFilterParam

Defined in File kalman_filter_param.hpp

Inheritance Relationships

Base Type

public state_observer::StateObserverParam (Class StateObserverParam)

Class Documentation

class KalmanFilterParam : public state_observer::StateObserverParam 

Parameters for the Kalman Filter observer.

The KalmanFilterParam class extends StateObserverParam to include the process noise covariance matrix Q, measurement noise covariance matrix R, and the initial error covariance matrix P0 specific to the Kalman Filter observer.

Public Types

using SharedPtr = std::shared_ptr<KalmanFilterParam>

Public Functions

inline KalmanFilterParam(): Default constructor.

inline virtual ~KalmanFilterParam(): Destructor.

virtual void initialize(const rclcpp_lifecycle::LifecycleNode::SharedPtr &node)

Initialize the parameters from a ROS 2 lifecycle node.

This method reads the parameters from the provided node and initializes the state-space matrices and covariance matrices.

Parameters:: node – Shared pointer to an rclcpp_lifecycle::LifecycleNode.
Throws:: std::runtime_error – if parameter retrieval fails.

inline Eigen::MatrixXd get_R()

Get the measurement noise covariance matrix R.

Returns:: Measurement noise covariance matrix R_ (q x q).

inline Eigen::MatrixXd get_Q()

Get the process noise covariance matrix Q.

Returns:: Process noise covariance matrix Q_ (n x n).

inline Eigen::MatrixXd get_P0()

Get the initial error covariance matrix P0.

Returns:: Initial error covariance matrix P0_ (n x n).

virtual std::string get_type() const override

Get the type of the state observer.

Returns:: A string representing the type of the state observer.

Protected Attributes

Eigen::MatrixXd R_

Eigen::MatrixXd Q_

Eigen::MatrixXd P0_