model.h

一个很好的粒子滤波算法

#ifndef _MODEL_H_
#define _MODEL_H_

#include "scanner.h"

/**
 * defines a temporal motion trajectory model
 * by Alex Gruenstein
 * for cs223b final project
 */

class Model 
{
public:
  Model(const char *filename); //load the model from a file
  int GetLength();
  double InterpolateLeftHvel(double phase);
  double InterpolateLeftVvel(double phase);
  double InterpolateRightHvel(double phase);
  double InterpolateRightVvel(double phase);

  double *hvelLeft; //horizontal velocities
  double *vvelLeft; //vertical velocities

  double *hvelRight;
  double *vvelRight;
  
 private:
  double *ReadDoubleArray(Scanner s, int length);
  double LinearInterpolate(double *array, double phase);

  int length; //length of model in timesteps



};



#endif _MODEL_H_