Package trclib.dataprocessor

Class TrcKalmanFilter

java.lang.Object

trclib.dataprocessor.TrcFilter

trclib.dataprocessor.TrcKalmanFilter

public class TrcKalmanFilter
extends TrcFilter

This class implements the Kalman filter. It is useful for filtering noise from the sensor data.

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	DEF_KQ
private static final double	DEF_KR
private boolean	initialized
private final double	kQ
private final double	kR
private double	prevP
private double	prevXEst

Fields inherited from class trclib.dataprocessor.TrcFilter

instanceName, tracer

Constructor Summary

Constructors

Constructor	Description
TrcKalmanFilter(String instanceName)	Constructor: Create an instance of the object.
TrcKalmanFilter(String instanceName, double kQ, double kR)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
double	filterData(double data)	This method returns the filtered data.
void	reset()	This method resets the filter.

Methods inherited from class trclib.dataprocessor.TrcFilter

toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

DEF_KQ

private static final double DEF_KQ

See Also:

• Constant Field Values

DEF_KR

private static final double DEF_KR

See Also:

• Constant Field Values

kQ

private final double kQ

kR

private final double kR

prevP

private double prevP

prevXEst

private double prevXEst

initialized

private boolean initialized

Constructor Details

TrcKalmanFilter

public TrcKalmanFilter(String instanceName,
 double kQ,
 double kR)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

kQ - specifies the KQ constant.

kR - specifies the KR constant.

TrcKalmanFilter

public TrcKalmanFilter(String instanceName)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

Method Details

reset

public void reset()

This method resets the filter.

Specified by:

reset in class TrcFilter

filterData

public double filterData(double data)

This method returns the filtered data.

Specified by:

filterData in class TrcFilter

Parameters:

data - specifies the data value to be filtered.

Returns:

filtered data.