Public Member Functions
	__init__ (self, float x, float y, float range_std, float elev_angle_std)
ColVector	state_to_measurement (self, ColVector x)
ColVector	measure_gt (self, ColVector pos)
ColVector	measure_with_noise (self, ColVector pos)

Protected Attributes
	_x = x
	_y = y
	_stdevRange = range_std
	_stdevElevAngle = elev_angle_std

Detailed Description

Class that permits to convert the position of the aircraft into
range and elevation angle measurements.

Definition at line 161 of file ukf-nonlinear-example.py.

Constructor & Destructor Documentation

◆ init()

ukf-nonlinear-example.vpRadarStation.__init__	(		self,
		float	x,
		float	y,
		float	range_std,
		float	elev_angle_std )

Construct a new vpRadarStation

:param x: The position on the ground of the radar.
:param y: The altitude of the radar.
:param range_std: The standard deviation of the range measurements.
:param elev_angle_std: The standard deviation of the elevation angle measurements.

Definition at line 166 of file ukf-nonlinear-example.py.

Member Function Documentation

◆ measure_gt()

ColVector ukf-nonlinear-example.vpRadarStation.measure_gt	(		self,
		ColVector	pos )

Perfect measurement of the range and elevation angle that
correspond to pos.

:param pos: The actual position of the aircraft (pos[0]: projection of the position
on the ground, pos[1]: altitude).

:return ColVector: [0] the range [1] the elevation angle.

Definition at line 194 of file ukf-nonlinear-example.py.

References ukf-nonlinear-complex-example.LandmarkMeasurements._x, _x, ukf-nonlinear-complex-example.LandmarkMeasurements._y, and _y.

Referenced by measure_with_noise().

◆ measure_with_noise()

ColVector ukf-nonlinear-example.vpRadarStation.measure_with_noise	(		self,
		ColVector	pos )

Noisy measurement of the range and elevation angle that
correspond to pos.

:param pos: The actual position of the aircraft (pos[0]: projection of the position
 on the ground, pos[1]: altitude).
:return vpColVector: [0] the range [1] the elevation angle.

Definition at line 210 of file ukf-nonlinear-example.py.

References _stdevElevAngle, _stdevRange, ukf-nonlinear-complex-example.LandmarkMeasurements.measure_gt(), ukf-nonlinear-complex-example.LandmarksGrid.measure_gt(), and measure_gt().

◆ state_to_measurement()

ColVector ukf-nonlinear-example.vpRadarStation.state_to_measurement	(		self,
		ColVector	x )

Measurement function that expresses the internal state of the UKF in the measurement space.

:param x: The internal state of the UKF.

:return ColVector: The internal state, expressed in the measurement space.

Definition at line 180 of file ukf-nonlinear-example.py.

References ukf-nonlinear-complex-example.LandmarkMeasurements._x, _x, ukf-nonlinear-complex-example.LandmarkMeasurements._y, and _y.