20#ifndef __NONMINIMAL_KALMAN_FILTER__
21#define __NONMINIMAL_KALMAN_FILTER__
23#include "kalmanfilter.h"
24#include "../pdf/conditionalpdf.h"
25#include "../pdf/gaussian.h"
26#include "../model/nonlinearanalyticmeasurementmodel_gaussianuncertainty.h"
27#include "../model/nonlinearanalyticsystemmodel_gaussianuncertainty.h"
28#include "nonminimal_state/linearise.h"
29#include "../filter/iteratedextendedkalmanfilter.h"
34#define NLSysModel NonLinearAnalyticSystemModelGaussianUncertainty
35#define NLMeasModel NonLinearAnalyticMeasurementModelGaussianUncertainty
60 unsigned int NrIterations,
61 vector<NLSysModel*> minimalsysmodels,
62 vector<NLMeasModel*> minimalmeasmodels,
63 vector<GiNaC::symbol> nonlinearstate = *(
new vector<GiNaC::symbol>));
70 const ColumnVector& u);
72 const ColumnVector& z,
73 const ColumnVector& s);
76 vector<GiNaC::symbol> MinimalState, NonminimalState;
79 Gaussian *NonminimalPrior, *MinimalPrior;
80 NLMeasModel *MinimalMeasModel;
Class representing Gaussian (or normal density)
Class representing the family of all Kalman Filters (EKF, IEKF, ...)
virtual ~NonminimalKalmanFilter()
Destructor.
NonminimalKalmanFilter(Gaussian *prior, unsigned int NrIterations, vector< NLSysModel * > minimalsysmodels, vector< NLMeasModel * > minimalmeasmodels, vector< GiNaC::symbol > nonlinearstate= *(new vector< GiNaC::symbol >))