GNU Radio Radar Toolbox
tracking_singletarget.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.
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17  * the Free Software Foundation, Inc., 51 Franklin Street,
18  * Boston, MA 02110-1301, USA.
19  */
20 
21 
22 #ifndef INCLUDED_RADAR_TRACKING_SINGLETARGET_H
23 #define INCLUDED_RADAR_TRACKING_SINGLETARGET_H
24 
25 #include <radar/api.h>
26 #include <gnuradio/block.h>
27 
28 namespace gr {
29  namespace radar {
30 
31  /*!
32  * \brief This block tracks a singletarget detection with a particle or kalman filter. As input values with identifiers 'range' and 'velocity' are needed and should hold a f32vector with only one element. All input variables tagged with std gives the standard deviation of the parameter. The threshold_track is a value which decides with the likelihood of the data if the new data is accepted as a track. A good starting value is threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track is lost and the tracker begins with a new one. The string filter decides which tracking kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen num_particle gives the number of particles for the particle filter. If 'kalman' is chosen there is no effect on the tracker.
33  *
34  * \param num_particle Number of particles for particle filter. There is no effect if kalman filter is chosen.
35  * \param std_range_meas Standard deviation of the range measurement
36  * \param std_velocity_meas Standard deviation of the velocity measurement
37  * \param std_accel_sys Standard deviation of the system acceleration
38  * \param threshold_track Value to decide if data is valid for the track
39  * \param theshold_lost Number of false tracks until the current track is lost
40  * \param filter Filter kernel to be used. 'kalman' or 'particle' are valid.
41  *
42  * \ingroup radar
43  *
44  */
45  class RADAR_API tracking_singletarget : virtual public gr::block
46  {
47  public:
48  typedef boost::shared_ptr<tracking_singletarget> sptr;
49 
50  /*!
51  * \brief Return a shared_ptr to a new instance of radar::tracking_singletarget.
52  *
53  * To avoid accidental use of raw pointers, radar::tracking_singletarget's
54  * constructor is in a private implementation
55  * class. radar::tracking_singletarget::make is the public interface for
56  * creating new instances.
57  */
58  static sptr make(int num_particle, float std_range_meas, float std_velocity_meas, float std_accel_sys, float threshold_track, int threshold_lost, std::string filter);
59  };
60 
61  } // namespace radar
62 } // namespace gr
63 
64 #endif /* INCLUDED_RADAR_TRACKING_SINGLETARGET_H */
65 
This block tracks a singletarget detection with a particle or kalman filter. As input values with ide...
Definition: tracking_singletarget.h:45
Definition: crop_matrix_vcvc.h:28
boost::shared_ptr< tracking_singletarget > sptr
Definition: tracking_singletarget.h:48
#define RADAR_API
Definition: api.h:30