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Public Member Functions |
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| track (int hist_depth=MAX_HIST_DEPTH) |
| | Constructor.
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| ~track () |
| | Destructor.
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| track (const track &t) |
| | Copy constructor.
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track & | operator= (const track &t) |
| | Assignment operator.
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void | initialize (int id, int type, int mode, double time, gsl::matrix &x, gsl::matrix &C) |
| | Initialize new track.
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int | get_id () |
| | Get track id.
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int | get_type () |
| | Get type id.
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int | is_matched () |
| | Return matched flag.
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void | set_matched () |
| | Set matched flag to true and reset n_misses.
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int | get_n_misses () |
| | Get number of non-matched in a row.
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void | inc_n_misses () |
| | Increase number of non-matched in a row.
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void | finalize_cycle () |
| | Conclude cycle.
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double | get_timestamp () |
| | Get timestamp (= last updated time).
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void | set_timestamp (double t) |
| | Set timestamp (= last updated time).
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int | get_n_pairings () |
| | Get number of pairings.
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void | inc_n_pairings () |
| | Increase number of pairings by 1.
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void | get_state (gsl::matrix &x) |
| | Get state.
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void | get_cov (gsl::matrix &C) |
| | Set covariance matrix.
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void | get_state_and_cov (gsl::matrix &x, gsl::matrix &C) |
| | Get state moments.
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void | get_meas_prediction (gsl::matrix &zp, gsl::matrix &Cp, gsl::matrix &H) |
| | Get measurement prediction and associated matrices.
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int | get_hist_depth () |
| | Get number of entries in history.
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void | get_hist_pos (int i, double &x, double &y) |
| | Get x,y,theta-variables from history at index i.
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void | init_cycle () |
| | Initialize track for new cycle.
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void | predict (double dt) |
| | Apply motion model.
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void | predict_measurements () |
| | Predict measurements.
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void | estimate_ekf (gsl::matrix &v, gsl::matrix &Sinv) |
| | Apply KF given innov. v, inv. inno. cov. S and meas. Jacobian H.
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void | copy_prior_to_posterior () |
| | Transfer prediction to posterior for non-matched tracks.
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void | update_history () |
| | Insert current state into history.
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void | print () |
| | Print track info.
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Private Attributes |
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int | id |
| | Track identifier.
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int | type |
| | Track type identifier. Encodes differnet target classes (currently nor used).
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double | timestamp |
| | Timestamp of last track update (i.e. when track is matched).
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int | mode |
| | Motion mode of track (currently not used).
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int | matched |
| | Flag indicating if track is matched (= reobserved).
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int | n_misses |
| | Number of consecutive non-observation of a track. Used for track deletion heuristics.
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int | n_pairings |
| | Number of candidate associations to observations.
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int | n_cycles |
| | Lifetime counter. As long as track exists it gets increased.
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gsl::matrix | x |
| | Track state x.
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gsl::matrix | C |
| | Track state covariance matrix C.
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gsl::matrix | H |
| | Track measurement Jacobian H.
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gsl::matrix | xp |
| | Track state prediction x hat;.
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gsl::matrix | Cp |
| | Track state prediction covariance C hat.
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gsl::matrix | zp |
| | Track measurement prediction z hat.
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int | ne |
| | Number of entries in track history buffer.
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int | ie |
| | Current index of history buffer. Gets increased automatically similar to a file desciptor.
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int | max_ne |
| | Maximum number of history entries (= buffer length).
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hist_entry * | history |
| | Track history. Stores most important track information into a cycle buffer.
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