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,
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19  */
20 
21 
22 #ifndef INCLUDED_RADAR_TRACKING_SINGLETARGET_H
23 #define INCLUDED_RADAR_TRACKING_SINGLETARGET_H
24 
25 #include <gnuradio/block.h>
26 #include <radar/api.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
33  * input values with identifiers 'range' and 'velocity' are needed and should hold a
34  * f32vector with only one element. All input variables tagged with std gives the standard
35  * deviation of the parameter. The threshold_track is a value which decides with the
36  * likelihood of the data if the new data is accepted as a track. A good starting value is
37  * threshold_track = 0.001. threshold_lost is the number of false tracks unitel the track
38  * is lost and the tracker begins with a new one. The string filter decides which tracking
39  * kernel should be used. 'kalman' or 'particle' are valid. If 'particle' is chosen
40  * num_particle gives the number of particles for the particle filter. If 'kalman' is
41  * chosen there is no effect on the tracker.
42  *
43  * \param num_particle Number of particles for particle filter. There is no effect if
44  * kalman filter is chosen. \param std_range_meas Standard deviation of the range
45  * measurement \param std_velocity_meas Standard deviation of the velocity measurement
46  * \param std_accel_sys Standard deviation of the system acceleration
47  * \param threshold_track Value to decide if data is valid for the track
48  * \param theshold_lost Number of false tracks until the current track is lost
49  * \param filter Filter kernel to be used. 'kalman' or 'particle' are valid.
50  *
51  * \ingroup radar
52  *
53  */
54 class RADAR_API tracking_singletarget : virtual public gr::block
55 {
56 public:
57  typedef boost::shared_ptr<tracking_singletarget> sptr;
58 
59  /*!
60  * \brief Return a shared_ptr to a new instance of radar::tracking_singletarget.
61  *
62  * To avoid accidental use of raw pointers, radar::tracking_singletarget's
63  * constructor is in a private implementation
64  * class. radar::tracking_singletarget::make is the public interface for
65  * creating new instances.
66  */
67  static sptr make(int num_particle,
68  float std_range_meas,
69  float std_velocity_meas,
70  float std_accel_sys,
71  float threshold_track,
72  int threshold_lost,
73  std::string filter);
74 };
75 
76 } // namespace radar
77 } // namespace gr
78 
79 #endif /* INCLUDED_RADAR_TRACKING_SINGLETARGET_H */
#define RADAR_API
Definition: api.h:31
This block tracks a singletarget detection with a particle or kalman filter. As input values with ide...
Definition: tracking_singletarget.h:55
boost::shared_ptr< tracking_singletarget > sptr
Definition: tracking_singletarget.h:57
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)
Return a shared_ptr to a new instance of radar::tracking_singletarget.
Definition: crop_matrix_vcvc.h:28