predict_leader.m

目标跟踪的扩展卡尔曼滤波算法主函数的文件是：kal_demo.m 近似网格滤波的主函数文件是：bayes_demo.m 近似网格滤波划分网格的方法是：以目标上一个时刻的位置作为中心进行网格

function [ leader ] = predict_leader(predict)
% Predict leader
%
% INPUT
%       predict(:) : predict the location of an object at next time t+1
% OUTPUT
%       leader : predict the leader at next time t+1

x_sensor = round(predict(1,1)/5);
y_sensor = round(predict(2,1)/5);

if x_sensor < 1
    x_sensor = 1;
end

if x_sensor > 20
    x_sensor = 20;
end

if y_sensor < 1
    y_sensor = 1;
end

if y_sensor > 20
    y_sensor = 20;
end

leader = x_sensor + (y_sensor - 1) * 20;