TargetTracker Class Reference

TargetTracker.

#include <TargetTracker.hpp>

Public Member Functions
	TargetTracker (std::string callsign, std::string configFile)
	Construct a new Target Tracker object. More...
void	ReadParamFromFile (std::string configFile)
	Read parameters from file. More...
void	SetHomePosition (larcfm::Position &home)
	Set the Home Position object. More...
void	SetGateThresholds (double p, double v)
	Set the chi2 gating thresholds. More...
void	UpdatePredictions (double time)
	Update track predictions for given time. More...
void	SetModelUncertainty (double sigmaP[6], double sigmaV[6])
	Set the Model Uncertainty. More...
void	InputCurrentState (double time, larcfm::Position &pos, larcfm::Velocity &vel, double sigmaP[6], double sigmaV[6])
	Input ownship information. More...
void	InputMeasurement (measurement &traffic)
	Input measurement data. More...
int	GetTotalTraffic ()
	Get the total traffic. More...
measurement	GetIntruderData (int i)
	Get intruder. More...
measurement	GetData (int i)
	Get track data at given index. More...

Private Member Functions
int	CheckValidationGate (measurement &data)
	Check if mahalanobis distance criteria is satisfied. More...
void	UpdateEstimate (measurement &prediction, measurement &value, bool onlyPrediction=false, double time=0)
	Perform filter updates. More...

Private Attributes
std::string	callsign
	ownship callsign
std::ofstream	logFile
	tracker log file
bool	log
	log enable status
double	timeout
	track timeout
double	modelUncertaintyP [6]
	position uncertainty associated with prediction model
double	modelUncertaintyV [6]
	velocity uncertainty associated with velocity model
double	pThreshold
	chi2 threshold for mahalanobis distance - position error
double	vThreshold
	chi2 threshold for mahalanobis distance - velocity error
larcfm::Position	homePos
	initial position - use to produce NED projections
measurement	currentState
	current state of ownship
std::vector< measurement >	tracks
	tracked measurements
larcfm::EuclideanProjection	proj
	projection
int	totalTracks
	total tracks
double	prevLogTime
	previous log time

Constructor & Destructor Documentation

TargetTracker()

TargetTracker::TargetTracker	(	std::string	callsign,
		std::string	configFile
	)

Parameters

callsign
configFile

Member Function Documentation

CheckValidationGate()

int TargetTracker::CheckValidationGate ( measurement &  data )

private

Parameters

data	input measurement

Returns

int index of track the input data is associated with. -1 if no associations are found

GetData()

measurement TargetTracker::GetData

(

int

i

)

Parameters

i	starts with 0. 0th index is ownship

Returns

measurement

GetIntruderData()

measurement TargetTracker::GetIntruderData

(

int

i

)

Parameters

i	starts with 0. 0th index is first traffic track

Returns

measurement

GetTotalTraffic()

int TargetTracker::GetTotalTraffic

(

)

Returns

int

InputCurrentState()

void TargetTracker::InputCurrentState	(	double	time,
		larcfm::Position &	pos,
		larcfm::Velocity &	vel,
		double	sigmaP[6],
		double	sigmaV[6]
	)

Parameters

time
pos
vel
sigmaP	covariances for xx,yy,zz,xy,xz,yz
sigmaV	covariances for xx,yy,zz,xy,xz,yz

InputMeasurement()

void TargetTracker::InputMeasurement

(

measurement &

traffic

)

Parameters

traffic

ReadParamFromFile()

void TargetTracker::ReadParamFromFile

(

std::string

configFile

)

Parameters

configFile

SetGateThresholds()

void TargetTracker::SetGateThresholds	(	double	p,
		double	v
	)

Parameters

p	position error threshold
v	velocity error threshold

SetHomePosition()

void TargetTracker::SetHomePosition

(

larcfm::Position &

home

)

Parameters

home

SetModelUncertainty()

void TargetTracker::SetModelUncertainty	(	double	sigmaP[6],
		double	sigmaV[6]
	)

Parameters

sigmaP	xx,yy,zz,xy,xz,yz
sigmaV	xx,yy,zz,xy,xz,yz

UpdateEstimate()

void TargetTracker::UpdateEstimate ( measurement &  prediction, measurement &  value, bool  onlyPrediction = false, double  time = 0  )

private

Parameters

prediction	previous know measurement
value	new measurement to fuse into update
onlyPrediction	perform only prediction
time	time to be used for updatess if not available in the measurement

UpdatePredictions()

void TargetTracker::UpdatePredictions

(

double

time

)

Parameters

time

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The documentation for this class was generated from the following files:

• Modules/Core/TargetTracker/TargetTracker.hpp
• Modules/Core/TargetTracker/TargetTracker.cpp