TargetTracker.
#include <TargetTracker.hpp>
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std::string | callsign |
| ownship callsign
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std::ofstream | logFile |
| tracker log file
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bool | log |
| log enable status
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double | timeout |
| track timeout
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double | modelUncertaintyP [6] |
| position uncertainty associated with prediction model
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double | modelUncertaintyV [6] |
| velocity uncertainty associated with velocity model
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double | pThreshold |
| chi2 threshold for mahalanobis distance - position error
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double | vThreshold |
| chi2 threshold for mahalanobis distance - velocity error
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larcfm::Position | homePos |
| initial position - use to produce NED projections
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measurement | currentState |
| current state of ownship
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std::vector< measurement > | tracks |
| tracked measurements
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larcfm::EuclideanProjection | proj |
| projection
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int | totalTracks |
| total tracks
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double | prevLogTime |
| previous log time
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◆ TargetTracker()
TargetTracker::TargetTracker |
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std::string |
callsign, |
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std::string |
configFile |
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) |
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◆ CheckValidationGate()
int TargetTracker::CheckValidationGate |
( |
measurement & |
data | ) |
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private |
- Parameters
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- Returns
- int index of track the input data is associated with. -1 if no associations are found
◆ GetData()
- Parameters
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i | starts with 0. 0th index is ownship |
- Returns
- measurement
◆ GetIntruderData()
- Parameters
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i | starts with 0. 0th index is first traffic track |
- Returns
- measurement
◆ GetTotalTraffic()
int TargetTracker::GetTotalTraffic |
( |
| ) |
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◆ InputCurrentState()
- Parameters
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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 |
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measurement & |
traffic | ) |
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◆ ReadParamFromFile()
void TargetTracker::ReadParamFromFile |
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std::string |
configFile | ) |
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◆ SetGateThresholds()
void TargetTracker::SetGateThresholds |
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double |
p, |
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double |
v |
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) |
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- Parameters
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p | position error threshold |
v | velocity error threshold |
◆ SetHomePosition()
◆ SetModelUncertainty()
void TargetTracker::SetModelUncertainty |
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double |
sigmaP[6], |
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double |
sigmaV[6] |
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) |
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- Parameters
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sigmaP | xx,yy,zz,xy,xz,yz |
sigmaV | xx,yy,zz,xy,xz,yz |
◆ UpdateEstimate()
void TargetTracker::UpdateEstimate |
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measurement & |
prediction, |
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measurement & |
value, |
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bool |
onlyPrediction = false , |
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double |
time = 0 |
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) |
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private |
- Parameters
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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 | ) |
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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