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added a method to predict the next state of the system #10

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added a method to predict the next state of the system #10

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5 changes: 3 additions & 2 deletions kalman/kf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,5 +127,6 @@ colvec* KF::GetCurrentEstimatedOutput()
return &z_m_;
}



colvec KF::PredictState() const {
return A_ * x_m_;
}
9 changes: 8 additions & 1 deletion kalman/kf.h
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,13 @@ class KF {
* @return Current estimated output $\hat{z}_k$
*/
colvec* GetCurrentEstimatedOutput();


/**
* predicts the next state of the system
* @return The predicted state vector
*/
colvec PredictState() const;

private:

mat A_; ///< System matrix
Expand All @@ -141,6 +147,7 @@ class KF {
mat P_m_; ///< State covariance after measurement update

colvec z_m_; ///< Estimated output

};

#endif