GNU Radio Radar Toolbox
tracking_singletarget_impl.h
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1/* -*- c++ -*- */
2/*
3 * Copyright 2014 Communications Engineering Lab, KIT.
4 *
5 * This is free software; you can redistribute it and/or modify
6 * it under the terms of the GNU General Public License as published by
7 * the Free Software Foundation; either version 3, or (at your option)
8 * any later version.
9 *
10 * This software is distributed in the hope that it will be useful,
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of
12 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 * GNU General Public License for more details.
14 *
15 * You should have received a copy of the GNU General Public License
16 * along with this software; see the file COPYING. If not, write to
17 * the Free Software Foundation, Inc., 51 Franklin Street,
18 * Boston, MA 02110-1301, USA.
19 */
20
21#ifndef INCLUDED_RADAR_TRACKING_SINGLETARGET_IMPL_H
22#define INCLUDED_RADAR_TRACKING_SINGLETARGET_IMPL_H
23
25
26namespace gr {
27namespace radar {
28
30{
31private:
32 // Nothing to declare in this block.
33
34public:
36 float std_range_meas,
37 float std_velocity_meas,
38 float std_accel_sys,
39 float threshold_track,
40 int threshold_lost,
41 std::string filter);
43 void handle_msg(pmt::pmt_t msg);
44 bool tracking();
47 float random_normal(float mean, float std);
48
52
54
56 float d_delta_t;
57 int d_lost;
59 std::vector<std::vector<float>> Q, R, R_inv, P, K;
61 float R_det;
64 std::string d_filter;
65};
66
67} // namespace radar
68} // namespace gr
69
70#endif /* INCLUDED_RADAR_TRACKING_SINGLETARGET_IMPL_H */
Definition tracking_singletarget_impl.h:30
int d_threshold_lost
Definition tracking_singletarget_impl.h:63
pmt::pmt_t d_port_id_in
Definition tracking_singletarget_impl.h:53
float d_std_accel_sys
Definition tracking_singletarget_impl.h:50
bool d_is_empty
Definition tracking_singletarget_impl.h:58
std::vector< float > d_particle_velocity
Definition tracking_singletarget_impl.h:60
std::vector< std::vector< float > > R
Definition tracking_singletarget_impl.h:59
std::vector< float > d_particle_range
Definition tracking_singletarget_impl.h:60
float d_velocity_est
Definition tracking_singletarget_impl.h:55
float random_normal(float mean, float std)
float d_range_meas
Definition tracking_singletarget_impl.h:51
pmt::pmt_t d_port_id_out
Definition tracking_singletarget_impl.h:53
int d_lost
Definition tracking_singletarget_impl.h:57
std::vector< std::vector< float > > P
Definition tracking_singletarget_impl.h:59
float R_det
Definition tracking_singletarget_impl.h:61
bool d_is_track
Definition tracking_singletarget_impl.h:58
float d_threshold_track
Definition tracking_singletarget_impl.h:62
int d_num_particle
Definition tracking_singletarget_impl.h:49
float d_std_velocity_meas
Definition tracking_singletarget_impl.h:50
float d_time_last
Definition tracking_singletarget_impl.h:55
float d_time
Definition tracking_singletarget_impl.h:51
float d_delta_t
Definition tracking_singletarget_impl.h:56
std::vector< std::vector< float > > R_inv
Definition tracking_singletarget_impl.h:59
tracking_singletarget_impl(int num_particle, float std_range_meas, float std_velocity_meas, float std_accel_sys, float threshold_track, int threshold_lost, std::string filter)
std::string d_filter
Definition tracking_singletarget_impl.h:64
std::vector< float > d_particle_weight
Definition tracking_singletarget_impl.h:60
std::vector< std::vector< float > > K
Definition tracking_singletarget_impl.h:59
float d_range_est
Definition tracking_singletarget_impl.h:55
std::vector< std::vector< float > > Q
Definition tracking_singletarget_impl.h:59
float d_velocity_meas
Definition tracking_singletarget_impl.h:51
float d_std_range_meas
Definition tracking_singletarget_impl.h:50
This block tracks a singletarget detection with a particle or kalman filter. As input values with ide...
Definition tracking_singletarget.h:55
Definition crop_matrix_vcvc.h:28