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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Bayes++ Bayesian Filtering Classes: Bayesian_filter::Unscented_scheme class Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.3.2 --><div class="qindex"><a class="qindex" href="index.html">Main Page</a> | <a class="qindex" href="namespaces.html">Namespace List</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Compound List</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="namespacemembers.html">Namespace Members</a> | <a class="qindex" href="functions.html">Compound Members</a> | <a class="qindex" href="globals.html">File Members</a></div><h1>Bayesian_filter::Unscented_scheme Class Reference</h1><code>#include <<a class="el" href="unsFlt_8hpp-source.html">unsFlt.hpp</a>></code><p><p>Inheritance diagram for Bayesian_filter::Unscented_scheme:<p><center><img src="classBayesian__filter_1_1Unscented__scheme.png" usemap="#Bayesian_filter::Unscented_scheme_map" border="0" alt=""></center><map name="Bayesian_filter::Unscented_scheme_map"><area href="classBayesian__filter_1_1Linrz__kalman__filter.html" alt="Bayesian_filter::Linrz_kalman_filter" shape="rect" coords="110,224,321,248"><area href="classBayesian__filter_1_1Functional__filter.html" alt="Bayesian_filter::Functional_filter" shape="rect" coords="442,224,653,248"><area href="classBayesian__filter_1_1Linrz__filter.html" alt="Bayesian_filter::Linrz_filter" shape="rect" coords="0,168,211,192"><area href="classBayesian__filter_1_1Kalman__state__filter.html" alt="Bayesian_filter::Kalman_state_filter" shape="rect" coords="221,168,432,192"><area href="classBayesian__filter_1_1Bayes__filter__base.html" alt="Bayesian_filter::Bayes_filter_base" shape="rect" coords="442,168,653,192"><area href="classBayesian__filter_1_1Bayes__filter__base.html" alt="Bayesian_filter::Bayes_filter_base" shape="rect" coords="0,112,211,136"><area href="classBayesian__filter_1_1State__filter.html" alt="Bayesian_filter::State_filter" shape="rect" coords="221,112,432,136"><area href="classBayesian__filter_1_1Bayes__base.html" alt="Bayesian_filter::Bayes_base" shape="rect" coords="442,112,653,136"><area href="classBayesian__filter_1_1Bayes__base.html" alt="Bayesian_filter::Bayes_base" shape="rect" coords="0,56,211,80"><area href="classBayesian__filter_1_1Bayes__filter__base.html" alt="Bayesian_filter::Bayes_filter_base" shape="rect" coords="221,56,432,80"><area href="classBayesian__filter_1_1Bayes__base.html" alt="Bayesian_filter::Bayes_base" shape="rect" coords="221,0,432,24"></map><a href="classBayesian__filter_1_1Unscented__scheme-members.html">List of all members.</a><table border=0 cellpadding=0 cellspacing=0><tr><td></td></tr><tr><td colspan=2><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a0">Unscented_scheme</a> (size_t x_size, size_t z_initialsize=0)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html">Unscented_scheme</a> & </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a1">operator=</a> (const <a class="el" href="classBayesian__filter_1_1Unscented__scheme.html">Unscented_scheme</a> &)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a2">init</a> ()</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a3">init_XX</a> ()</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a4">update</a> ()</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a5">update_XX</a> (<a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> <a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#o1">kappa</a>)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a6">predict</a> (<a class="el" href="classBayesian__filter_1_1Unscented__predict__model.html">Unscented_predict_model</a> &f)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a7">predict</a> (<a class="el" href="classBayesian__filter_1_1Functional__predict__model.html">Functional_predict_model</a> &f)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a8">predict</a> (<a class="el" href="classBayesian__filter_1_1Addative__predict__model.html">Addative_predict_model</a> &f)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a9">predict</a> (<a class="el" href="classBayesian__filter_1_1Linrz__predict__model.html">Linrz_predict_model</a> &f)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a10">observe</a> (<a class="el" href="classBayesian__filter_1_1Uncorrelated__addative__observe__model.html">Uncorrelated_addative_observe_model</a> &h, const FM::Vec &z)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a11">observe</a> (<a class="el" href="classBayesian__filter_1_1Correlated__addative__observe__model.html">Correlated_addative_observe_model</a> &h, const FM::Vec &z)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a12">observe</a> (<a class="el" href="classBayesian__filter_1_1Linrz__uncorrelated__observe__model.html">Linrz_uncorrelated_observe_model</a> &h, const FM::Vec &z)</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#a13">observe</a> (<a class="el" href="classBayesian__filter_1_1Linrz__correlated__observe__model.html">Linrz_correlated_observe_model</a> &h, const FM::Vec &z)</td></tr><tr><td colspan=2><br><h2>Public Attributes</h2></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>FM::ColMatrix </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#o0">XX</a></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top><a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#o1">kappa</a></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>FM::Vec </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#o2">s</a></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>FM::SymMatrix </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#o3">S</a></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>FM::SymMatrix </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#o4">SI</a></td></tr><tr><td colspan=2><br><h2>Protected Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>virtual <a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#b0">predict_Kappa</a> (size_t size) const</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>virtual <a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#b1">observe_Kappa</a> (size_t size) const</td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>void </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#b2">observe_size</a> (size_t z_size)</td></tr><tr><td colspan=2><br><h2>Protected Attributes</h2></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>size_t </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#p0">last_z_size</a></td></tr><tr><td class="memItemLeft" nowrap align=right valign=top>FM::ColMatrix </td><td class="memItemRight" valign=bottom><a class="el" href="classBayesian__filter_1_1Unscented__scheme.html#p1">fXX</a></td></tr></table><hr><h2>Constructor & Destructor Documentation</h2><a name="a0" doxytag="Bayesian_filter::Unscented_scheme::Unscented_scheme"></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> Bayesian_filter::Unscented_scheme::Unscented_scheme </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">size_t </td> <td class="mdname" nowrap> <em>x_size</em>, </td> </tr> <tr> <td></td> <td></td> <td class="md" nowrap>size_t </td> <td class="mdname" nowrap> <em>z_initialsize</em> = 0</td> </tr> <tr> <td></td> <td class="md">) </td> <td class="md" colspan="2"></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p> </td> </tr></table><hr><h2>Member Function Documentation</h2><a name="a2" doxytag="Bayesian_filter::Unscented_scheme::init"></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> void Bayesian_filter::Unscented_scheme::init </td> <td class="md" valign="top">( </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p><p>Implements <a class="el" href="classBayesian__filter_1_1Kalman__state__filter.html#a1">Bayesian_filter::Kalman_state_filter</a>. </td> </tr></table><a name="a3" doxytag="Bayesian_filter::Unscented_scheme::init_XX"></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> void Bayesian_filter::Unscented_scheme::init_XX </td> <td class="md" valign="top">( </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p> </td> </tr></table><a name="a13" doxytag="Bayesian_filter::Unscented_scheme::observe"></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> <a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> Bayesian_filter::Unscented_scheme::observe </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="classBayesian__filter_1_1Linrz__correlated__observe__model.html">Linrz_correlated_observe_model</a> & </td> <td class="mdname" nowrap> <em>h</em>, </td> </tr> <tr> <td></td> <td></td> <td class="md" nowrap>const FM::Vec & </td> <td class="mdname" nowrap> <em>z</em></td> </tr> <tr> <td></td> <td class="md">) </td> <td class="md" colspan="2"><code> [inline, virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p><p>Implements <a class="el" href="classBayesian__filter_1_1Linrz__filter.html#a2">Bayesian_filter::Linrz_filter</a>. </td> </tr></table><a name="a12" doxytag="Bayesian_filter::Unscented_scheme::observe"></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> <a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Float</a> Bayesian_filter::Unscented_scheme::observe </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="classBayesian__filter_1_1Linrz__uncorrelated__observe__model.html">Linrz_uncorrelated_observe_model</a> & </td> <td class="mdname" nowrap> <em>h</em>, </td> </tr> <tr> <td></td> <td></td> <td class="md" nowrap>const FM::Vec & </td> <td class="mdname" nowrap> <em>z</em></td> </tr> <tr> <td></td> <td class="md">) </td> <td class="md" colspan="2"><code> [inline, virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing=5 cellpadding=0 border=0> <tr> <td> </td> <td><p><p>Implements <a class="el" href="classBayesian__filter_1_1Linrz__filter.html#a1">Bayesian_filter::Linrz_filter</a>. </td> </tr></table><a name="a11" doxytag="Bayesian_filter::Unscented_scheme::observe"></a><p><table class="mdTable" width="100%" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top"> <a class="el" href="classBayesian__filter_1_1Bayes__base.html#w0">Bayes_base::Float</a> Bayesian_filter::Unscented_scheme::observe </td>⌨️ 快捷键说明
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