ctrect
State transition function of constant turn-rate motion model for rectangular targets
Syntax
Description
returns the predicted rectangular states from the current rectangular
predictedState
= ctrect(states
)states
, based on the constant turn-rate motion model. The default
time step is 1 second.
specifies the time step, predictedState
= ctrect(states
,dt
)dt
, in seconds.
additionally specifies the process noise, predictedState
= ctrect(states
,w
,dt
)w
.
Examples
Predict Constant Turn-Rate Rectangular State
Define a rectangular state.
state = [1 2 2 30 1 4.7 1.8];
Predict the state dt
= 0.1 second forward using the default syntax.
state = ctrect(state,0.1)
state = 1×7
1.1731 2.1002 2.0000 30.1000 1.0000 4.7000 1.8000
Predict the state dt = 0.1 second forward without noise.
state = ctrect(state,0.1)
state = 1×7
1.3461 2.2006 2.0000 30.2000 1.0000 4.7000 1.8000
Predict the state dt
= 0.1 second forward with noise.
state = ctrect(state,0.01,0.1)
state = 1×7
1.5189 2.3014 2.0010 30.3000 1.0010 4.7000 1.8000
Predict Multiple Constant Turn-Rate Rectangular States
Define a state matrix.
states = [1 3 4;-1 2 10;5 3 1.3;1 1.3 2.1;30 0 -30;4.7 3.4 4.5;1.8 2 3];
Predict the state dt
= 1 second ahead.
states = ctrect(states)
states = 7×3
5.7516 5.9992 5.2528
0.3625 2.0681 9.7131
5.0000 3.0000 1.3000
31.0000 1.3000 -27.9000
30.0000 0.0000 -30.0000
4.7000 3.4000 4.5000
1.8000 2.0000 3.0000
Predict the state dt
= 0.1 second ahead without noise.
states = ctrect(states,0.1)
states = 7×3
6.1732 6.2992 5.3660
0.6311 2.0749 9.6493
5.0000 3.0000 1.3000
34.0000 1.3000 -30.9000
30.0000 0.0000 -30.0000
4.7000 3.4000 4.5000
1.8000 2.0000 3.0000
Predict the state dt
= 0.1 second ahead with noise.
states = ctrect(states,0.1*randn(2,3),0.1)
states = 7×3
6.5805 6.5979 5.4759
0.9216 2.0816 9.5795
5.0054 2.9774 1.3032
37.0009 1.3004 -33.9007
30.0183 0.0086 -30.0131
4.7000 3.4000 4.5000
1.8000 2.0000 3.0000
Input Arguments
states
— Current rectangular states
real-valued seven-element row or column vector | 7-by-N real-valued matrix
Current rectangular states, specified as a real-valued seven-element row or column vector, or a 7-by-N real-valued matrix, where N is the number of states. The seven dimensional rectangular target state is defined as [x; y; s; θ; ω; L; W]:
Variable | Meaning | Unit |
x | Position of the rectangle center in x direction | m |
y | Position of the rectangle center in y direction | m |
s | Speed in the heading direction | m/s |
θ | Orientation angle of the rectangle with respect to x direction | degree |
ω | Turn-rate | degree/s |
L | Length of the rectangle | m |
W | Width of the rectangle | m |
Example: [1;2;2;30;1;4.7;1.8]
Data Types: single
| double
dt
— Time step
real-valued positive scalar
Time step, specified as a real-valued positive scalar in second.
Data Types: single
| double
w
— Process noise
real scalar | 2-by-N real-valued matrix
Process noise, specified as a 2-by-N real-valued matrix, where
N is the number of states specified in the
states
input. If specified as a scalar, it is expanded to a
2-by-N matrix with all elements equal to the scalar. The first
row of the matrix specifies the process noise in acceleration
(m/s2). The second row specifies the process noise in yaw
acceleration (degrees/s2).
Data Types: single
| double
Output Arguments
predictedState
— Predicted state at next time step
1-by-7 real-valued vector | 7-by-1 real-valued vector | 7-by-N real-valued matrix
Predicted state, specified as a 1-by-7 real-valued vector, a 7-by-1 real-valued
vector, or a 7-by-N real-valued matrix, where N is
the number of states. The dimensions and setups of predictedState
output are exactly the same as those of the states
input.
Data Types: single
| double
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.
Version History
Introduced in R2019b
See Also
gmphd
| trackerPHD
| ctrectmeas
| ctrectmeasjac
| ctrectjac
| initctrectgmphd
| ctrectcorners
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