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<h1>itkKalmanLinearEstimator.h</h1><a href="itkKalmanLinearEstimator_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*=========================================================================</span>
<a name="l00002"></a>00002 <span class="comment"></span>
<a name="l00003"></a>00003 <span class="comment"> Program: Insight Segmentation & Registration Toolkit</span>
<a name="l00004"></a>00004 <span class="comment"> Module: $RCSfile: itkKalmanLinearEstimator.h,v $</span>
<a name="l00005"></a>00005 <span class="comment"> Language: C++</span>
<a name="l00006"></a>00006 <span class="comment"> Date: $Date: 2009-01-24 20:02:57 $</span>
<a name="l00007"></a>00007 <span class="comment"> Version: $Revision: 1.17 $</span>
<a name="l00008"></a>00008 <span class="comment"></span>
<a name="l00009"></a>00009 <span class="comment"> Copyright (c) Insight Software Consortium. All rights reserved.</span>
<a name="l00010"></a>00010 <span class="comment"> See ITKCopyright.txt or http://www.itk.org/HTML/Copyright.htm for details.</span>
<a name="l00011"></a>00011 <span class="comment"></span>
<a name="l00012"></a>00012 <span class="comment"> This software is distributed WITHOUT ANY WARRANTY; without even </span>
<a name="l00013"></a>00013 <span class="comment"> the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR </span>
<a name="l00014"></a>00014 <span class="comment"> PURPOSE. See the above copyright notices for more information.</span>
<a name="l00015"></a>00015 <span class="comment"></span>
<a name="l00016"></a>00016 <span class="comment">=========================================================================*/</span>
<a name="l00017"></a>00017 <span class="preprocessor">#ifndef __itkKalmanLinearEstimator_h</span>
<a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor">#define __itkKalmanLinearEstimator_h</span>
<a name="l00019"></a>00019 <span class="preprocessor"></span>
<a name="l00020"></a>00020 <span class="preprocessor">#include "<a class="code" href="itkMacro_8h.html">itkMacro.h</a>"</span>
<a name="l00021"></a>00021
<a name="l00022"></a>00022 <span class="preprocessor">#include <vnl/vnl_vector_fixed.h></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include <vnl/vnl_matrix_fixed.h></span>
<a name="l00024"></a>00024
<a name="l00025"></a>00025 <span class="keyword">namespace </span>itk
<a name="l00026"></a>00026 {
<a name="l00027"></a>00027
<a name="l00040"></a>00040 <span class="keyword">template</span> <<span class="keyword">class</span> T, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> VEstimatorDimension>
<a name="l00041"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html">00041</a> <span class="keyword">class </span><a class="code" href="itkWin32Header_8h.html#7d4384322557205d75f0719c012dded6">ITK_EXPORT</a> <a class="code" href="classitk_1_1KalmanLinearEstimator.html" title="Implement a linear recursive estimator.">KalmanLinearEstimator</a>
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <span class="keyword">public</span>:
<a name="l00046"></a>00046 <a class="code" href="itkMacro_8h.html#1905cf6b2e88235996fa7ff73b2fb0eb">itkStaticConstMacro</a>( Dimension, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>,
<a name="l00047"></a>00047 VEstimatorDimension);
<a name="l00048"></a>00048
<a name="l00051"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#55b0a9c4bc0c6c7cb0e8bc210f782904">00051</a> <span class="keyword">typedef</span> vnl_vector_fixed<T,VEstimatorDimension> VectorType;
<a name="l00052"></a>00052
<a name="l00055"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#382cc82efea13f4ab17f916c35984998">00055</a> <span class="keyword">typedef</span> vnl_matrix_fixed<T,VEstimatorDimension,VEstimatorDimension> MatrixType;
<a name="l00056"></a>00056
<a name="l00061"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#468b3ca27a0eb9ffa1d75915f2ca6ebf">00061</a> <span class="keyword">typedef</span> T ValueType;
<a name="l00062"></a>00062
<a name="l00067"></a>00067 <span class="keywordtype">void</span> UpdateWithNewMeasure( <span class="keyword">const</span> ValueType & newMeasure,
<a name="l00068"></a>00068 <span class="keyword">const</span> VectorType & newPredictor );
<a name="l00069"></a>00069
<a name="l00073"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#7f1aac845de4ef5d7f138daa254111df">00073</a> <span class="keywordtype">void</span> ClearEstimation(<span class="keywordtype">void</span>)
<a name="l00074"></a>00074 { m_Estimator = VectorType(T(0)); }
<a name="l00075"></a>00075
<a name="l00078"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#093e8151b4df23d6b5f0d08772d6284f">00078</a> <span class="keywordtype">void</span> ClearVariance(<span class="keywordtype">void</span>)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 m_Variance.set_identity();
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00089"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#d08e4f6de0bb106fbbac6de33588f289">00089</a> <span class="keywordtype">void</span> SetVariance(<span class="keyword">const</span> ValueType & var = 1.0)
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 m_Variance.set_identity();
<a name="l00092"></a>00092 m_Variance *= var;
<a name="l00093"></a>00093 }
<a name="l00095"></a>00095
<a name="l00101"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#a08648904bdcba50ce211dc703528e93">00101</a> <span class="keywordtype">void</span> SetVariance(<span class="keyword">const</span> MatrixType & m)
<a name="l00102"></a>00102 { m_Variance = m; }
<a name="l00103"></a>00103
<a name="l00106"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#1687c8a60f545adecd53ea196b695824">00106</a> <span class="keyword">const</span> VectorType & GetEstimator(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00107"></a>00107 <span class="keyword"> </span>{ <span class="keywordflow">return</span> m_Estimator; }
<a name="l00108"></a>00108
<a name="l00111"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#1fd8710fc2360298fa09f357c8fcf83d">00111</a> <span class="keyword">const</span> MatrixType & GetVariance(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00112"></a>00112 <span class="keyword"> </span>{ <span class="keywordflow">return</span> m_Variance; }
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="keyword">private</span>:
<a name="l00119"></a>00119 <span class="keywordtype">void</span> UpdateVariance( <span class="keyword">const</span> VectorType & );
<a name="l00120"></a>00120
<a name="l00123"></a>00123 VectorType m_Estimator;
<a name="l00124"></a>00124
<a name="l00131"></a>00131 MatrixType m_Variance;
<a name="l00132"></a>00132
<a name="l00133"></a>00133 };
<a name="l00134"></a>00134
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keyword">template</span> <<span class="keyword">class</span> T, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> VEstimatorDimension>
<a name="l00137"></a>00137 <span class="keywordtype">void</span>
<a name="l00138"></a>00138 <a class="code" href="classitk_1_1KalmanLinearEstimator.html#c3e42f962023400ca7aea8546672f762">KalmanLinearEstimator<T,VEstimatorDimension></a>
<a name="l00139"></a><a class="code" href="classitk_1_1KalmanLinearEstimator.html#c3e42f962023400ca7aea8546672f762">00139</a> <a class="code" href="classitk_1_1KalmanLinearEstimator.html#c3e42f962023400ca7aea8546672f762">::UpdateWithNewMeasure</a>( <span class="keyword">const</span> ValueType & newMeasure,
<a name="l00140"></a>00140 <span class="keyword">const</span> VectorType & newPredictor )
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 ValueType measurePrediction = dot_product( newPredictor , m_Estimator );
<a name="l00143"></a>00143
<a name="l00144"></a>00144 ValueType errorMeasurePrediction = newMeasure - measurePrediction;
<a name="l00145"></a>00145
<a name="l00146"></a>00146 VectorType Corrector = m_Variance * newPredictor;
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keywordflow">for</span>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j=0; j<VEstimatorDimension; j++)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 m_Estimator(j) += Corrector(j) * errorMeasurePrediction;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a>00153 UpdateVariance( newPredictor );
<a name="l00154"></a>00154
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="keyword">template</span> <<span class="keyword">class</span> T, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> VEstimatorDimension>
<a name="l00159"></a>00159 <span class="keywordtype">void</span>
<a name="l00160"></a>00160 <a class="code" href="classitk_1_1KalmanLinearEstimator.html" title="Implement a linear recursive estimator.">KalmanLinearEstimator<T,VEstimatorDimension></a>
<a name="l00161"></a>00161 <a class="code" href="classitk_1_1KalmanLinearEstimator.html" title="Implement a linear recursive estimator.">::UpdateVariance</a>( <span class="keyword">const</span> VectorType & newPredictor )
<a name="l00162"></a>00162 {
<a name="l00163"></a>00163 VectorType aux = m_Variance * newPredictor;
<a name="l00164"></a>00164
<a name="l00165"></a>00165 ValueType denominator = 1.0/(1.0 + dot_product( aux , newPredictor ) );
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <span class="keywordflow">for</span>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> col=0; col<VEstimatorDimension; col++)
<a name="l00168"></a>00168 {
<a name="l00169"></a>00169 <span class="keywordflow">for</span>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> row=0; row<VEstimatorDimension; row++)
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171 m_Variance(col,row) -= aux(col)*aux(row)*denominator;
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 } <span class="comment">// end namespace itk</span>
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <span class="preprocessor">#endif</span>
<a name="l00179"></a>00179 <span class="preprocessor"></span>
</pre></div></div>
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