21 #ifndef __EXTENDED_KALMAN_FILTER__
22 #define __EXTENDED_KALMAN_FILTER__
24 #include "kalmanfilter.h"
25 #include "../pdf/conditionalpdf.h"
26 #include "../pdf/gaussian.h"
73 struct MeasUpdateVariablesExt
78 MeasUpdateVariablesExt() {};
79 MeasUpdateVariablesExt(
unsigned int meas_dimension,
unsigned int state_dimension):
81 , _H(meas_dimension,state_dimension)
97 std::map<unsigned int, MeasUpdateVariablesExt> _mapMeasUpdateVariablesExt;
98 std::map<unsigned int, MeasUpdateVariablesExt>::iterator _mapMeasUpdateVariablesExt_it;
105 #endif // __EXTENDED_KALMAN_FILTER__
Class representing Gaussian (or normal density)
virtual ~ExtendedKalmanFilter()
Destructor.
Wrapper class for ColumnVectors (Boost implementation)
virtual void SysUpdate(SystemModel< MatrixWrapper::ColumnVector > *const sysmodel, const MatrixWrapper::ColumnVector &u)
System Update.
Class representing the family of all Kalman Filters (EKF, IEKF, ...)
ExtendedKalmanFilter(Gaussian *prior)
virtual void MeasUpdate(MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *const measmodel, const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &s)
Measurement Update (overloaded)
void AllocateMeasModelExt(const vector< unsigned int > &meas_dimensions)
Function to allocate memory needed during the measurement update,.