# EKF¶

class do_mpc.estimator.EKF(model)[source]

Extended Kalman Filter. Setup this class and use EKF.make_step() during runtime to obtain the currently estimated states given the measurements y0.

Warning

Not currently implemented.

Attributes

 EKF.t0 Current time marker of the class. EKF.u0 Initial input and current iterate. EKF.x0 Initial state and current iterate. EKF.z0 Initial algebraic state and current iterate.

Methods

 EKF.make_step Main method during runtime. EKF.reset_history Reset the history of the estimator