Candy::Utils::EFFOAW< VEC > Class Template Reference

This is an end-fitting first-order adaptive window estimator of velocity from samples allowing jittering. More...

Inheritance diagram for Candy::Utils::EFFOAW< VEC >:

Public Member Functions
	EFFOAW ()
	Creates a new end-fitting first-order adaptive window estimator using the default parameters. More...
void	setHistoryLength (size_t N)
	Set how many samples should be saved to be used when estimating the velocity. More...
size_t	getHistoryLength () const
	Get the number of samples that are saved to be used when estimating the velocity. More...
void	setHistoryDuration (double t)
	Set how old samples should be saved to be used when estimating the velocity. More...
double	getHistoryDuration () const
	Get how old samples are saved to be used when estimating the velocity. More...
void	addSample (size_t id, VEC position, double time)
	Add a position sample. More...
template<class TYPE >
VEC	estimateVelocity (size_t id, TYPE error) const
	Estimate and return the velocity using samples associated to id. More...
void	cleanup (double time)
	Clean-up old samples and unused ids. More...

Detailed Description

template<class VEC>
class Candy::Utils::EFFOAW< VEC >

This is an end-fitting first-order adaptive window estimator of velocity from samples allowing jittering.

Constructor & Destructor Documentation

template<class VEC >

Candy::Utils::EFFOAW< VEC >::EFFOAW

(

)

Creates a new end-fitting first-order adaptive window estimator using the default parameters.

Member Function Documentation

template<class VEC>

void Candy::Utils::EFFOAW< VEC >::addSample	(	size_t	id,
		VEC	position,
		double	time
	)

Add a position sample.

Each sample is associated to an id and a time.

Parameters

id	The id to add position sample to.
position	The position value to use as sample.
time	The time at which the sample was taken.

template<class VEC >

void Candy::Utils::EFFOAW< VEC >::cleanup

(

double

time

)

Clean-up old samples and unused ids.

This function should be called from time to time, for example after calling addSample, to avoid too much unnecessary memory usage.

Parameters

time	The current time, to use when estimating if samples are too old.

template<class VEC >

template<class TYPE >

VEC Candy::Utils::EFFOAW< VEC >::estimateVelocity	(	size_t	id,
		TYPE	error
	)		const

Estimate and return the velocity using samples associated to id.

Parameters

id	The id to estimate velocity for.
error	An estimate of the position tracking error, used to determine how many samples to include in the averaging.

template<class VEC>

double Candy::Utils::EFFOAW< VEC >::getHistoryDuration ( ) const

inline

Get how old samples are saved to be used when estimating the velocity.

template<class VEC>

size_t Candy::Utils::EFFOAW< VEC >::getHistoryLength ( ) const

inline

Get the number of samples that are saved to be used when estimating the velocity.

template<class VEC>

void Candy::Utils::EFFOAW< VEC >::setHistoryDuration ( double  t )

inline

Set how old samples should be saved to be used when estimating the velocity.

template<class VEC>

void Candy::Utils::EFFOAW< VEC >::setHistoryLength ( size_t  N )

inline

Set how many samples should be saved to be used when estimating the velocity.