Tracker Class Reference

A class to implement a bistatic tracker. More...

#include <Tracker.h>

Collaboration diagram for Tracker:

Public Member Functions
	Tracker (uint32_t m, uint32_t n, uint32_t nDelete, double cpi, double maxAccInit, double rangeRes)
	Constructor. More...
	~Tracker ()
	Destructor. More...
Track *	process (Detection *detection, uint64_t timestamp)
	Run through key functions of tracker. More...
void	update (Detection *detection, uint64_t timestamp)
	Update tracks by associating detections. More...
void	initiate (Detection *detection)
	Initiate new tentative tracks from detections. More...

Private Attributes
uint32_t	m
	Track initiation constant for M of N detections. More...
uint32_t	n
	Track initiation constant for M of N detections. More...
uint32_t	nDelete
	Number of missed predictions to delete a tentative track. More...
double	cpi
	True CPI time for acceleration resolution(s). More...
double	maxAccInit
	Maximum acceleration to initiate track (Hz/s). More...
double	rangeRes
	Range resolution for kinematics equations (m). More...
std::vector< double >	accInit
	Acceleration values to initiate track (Hz/s). More...
std::vector< bool >	doNotInitiate
	Index of detections already updated. More...
uint64_t	timestamp
	POSIX timestamp of last update (ms). More...
Track	track
	Track data. More...

Detailed Description

A class to implement a bistatic tracker.

Key functions are update, initiate, smooth and remove.

Update before initiate to avoid duplicate tracks.

Author

30hours

Todo:

Add smoothing capability.

Fix units up.

Constructor & Destructor Documentation

Tracker()

Tracker::Tracker	(	uint32_t	m,
		uint32_t	n,
		uint32_t	nDelete,
		double	cpi,
		double	maxAccInit,
		double	rangeRes
	)

Constructor.

Parameters

delayMin	Minimum clutter filter delay (bins).
delayMax	Maximum clutter filter delay (bins).
nSamples	Number of samples per CPI.

Returns

The object.

~Tracker()

Tracker::~Tracker

(

)

Destructor.

Returns

Void.

Member Function Documentation

initiate()

void Tracker::initiate

(

Detection *

detection

)

Initiate new tentative tracks from detections.

Parameters

detection

Detection data for last CPI.

Returns

Void.

process()

Track * Tracker::process	(	Detection *	detection,
		uint64_t	timestamp
	)

Run through key functions of tracker.

Parameters

detection	Detection data for last CPI.
timestamp	POSIX timestamp (ms).

Returns

Pointer to track data.

update()

void Tracker::update	(	Detection *	detection,
		uint64_t	timestamp
	)

Update tracks by associating detections.

Parameters

detection	Detection data for last CPI.
timestamp	POSIX timestamp (ms).

Returns

Void.

Member Data Documentation

accInit

std::vector<double> Tracker::accInit

private

Acceleration values to initiate track (Hz/s).

cpi

double Tracker::cpi

private

True CPI time for acceleration resolution(s).

doNotInitiate

std::vector<bool> Tracker::doNotInitiate

private

Index of detections already updated.

m

uint32_t Tracker::m

private

Track initiation constant for M of N detections.

maxAccInit

double Tracker::maxAccInit

private

Maximum acceleration to initiate track (Hz/s).

n

uint32_t Tracker::n

private

Track initiation constant for M of N detections.

nDelete

uint32_t Tracker::nDelete

private

Number of missed predictions to delete a tentative track.

rangeRes

double Tracker::rangeRes

private

Range resolution for kinematics equations (m).

timestamp

uint64_t Tracker::timestamp

private

POSIX timestamp of last update (ms).

track

Track Tracker::track

private

Track data.

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The documentation for this class was generated from the following files:

• src/process/tracker/Tracker.h
• src/process/tracker/Tracker.cpp