mobilerobotunscentedkalmanfiltermodel.hpp

来自「dysii是一款非常出色的滤波函数库」· HPP 代码 · 共 28 行

#ifndef MOBILEROBOTUNSCENTEDKALMANFILTERMODEL_HPP
#define MOBILEROBOTUNSCENTEDKALMANFILTERMODEL_HPP

#include "indii/ml/filter/UnscentedKalmanSmootherModel.hpp"
#include "indii/ml/aux/vector.hpp"

using namespace indii::ml::filter;

namespace aux = indii::ml::aux;

/**
 * Mobile robot model for unscented Kalman filter and smoother tests.
 */
class MobileRobotUnscentedKalmanFilterModel
    : public UnscentedKalmanSmootherModel<unsigned int> {
public:
  virtual aux::vector transition(const aux::vector& x, const aux::vector& w,
      unsigned int delta);

  virtual aux::vector measure(const aux::vector& x, const aux::vector& v);

  virtual aux::vector backwardTransition(const aux::vector& x,
      const aux::vector& w, unsigned int delta);

};

#endif