//! updates the predicted state from the measurement
CV_WRAP const Mat& correct( const Mat& measurement );
+ //! sets predicted state
+ CV_WRAP void setStatePre( const Mat& state ) { statePre = state; }
+ //! sets corrected state
+ CV_WRAP void setStatePost( const Mat& state ) { statePost = state; }
+ //! sets transition matrix
+ CV_WRAP void setTransitionMatrix( const Mat& transition ) { transitionMatrix = transition; }
+ //! sets control matrix
+ CV_WRAP void setControlMatrix( const Mat& control ) { controlMatrix = control; }
+ //! sets measurement matrix
+ CV_WRAP void setMeasurementMatrix( const Mat& measurement ) { measurementMatrix = measurement; }
+ //! sets process noise covariance matrix
+ CV_WRAP void setProcessNoiseCov( const Mat& noise ) { processNoiseCov = noise; }
+ //! sets measurement noise covariance matrix
+ CV_WRAP void setMeasurementNoiseCov( const Mat& noise ) { measurementNoiseCov = noise; }
+ //! sets posteriori error covariance
+ CV_WRAP void setErrorCovPost( const Mat& error ) { errorCovPost = error; }
+
Mat statePre; //!< predicted state (x'(k)): x(k)=A*x(k-1)+B*u(k)
Mat statePost; //!< corrected state (x(k)): x(k)=x'(k)+K(k)*(z(k)-H*x'(k))
Mat transitionMatrix; //!< state transition matrix (A)