mobile_robot_particlefilter.h

一个很全的matlab工具包

#include "mobile_robot_models.h"

// Create a MCPDF prior

  /*****
	Particle Filter specific Prior stuff
  *****/

  // Generate (exact) Samples from this continuous density with 
  // cholesky sampling
list<Sample<ColumnVector> > prior_samples;
MCPdf<ColumnVector> * Prior = NULL;

void init_mc_prior(unsigned int num_samples)
{
  prior_samples.resize(num_samples);
  if (Prior == NULL)
    {
      Prior = new MCPdf<ColumnVector>(num_samples,STATE_SIZE);
    }
  
  prior_samples = Prior_cont->SampleFrom(num_samples,CHOLESKY,NULL);
  Prior->ListOfSamplesSet(prior_samples);
}

void cleanup_mc_prior()
{
  // if (Prior) delete Prior;
}