41 std::vector<SymmetricMatrix>::iterator _cov_it;
43 std::vector<SymmetricMatrix> _tmpCov;
44 std::vector<SymmetricMatrix>::iterator _tmpCovit;
48 const int _num_samples;
49 std::vector<WeightedSample<ColumnVector> > _old_samples;
50 std::vector<WeightedSample<ColumnVector> >::iterator _oit;
51 std::vector<WeightedSample<ColumnVector> > _result_samples;
52 std::vector<WeightedSample<ColumnVector> >::iterator _rit;
53 std::vector<double> _unif_samples;
54 std::vector<double> _CumPDF;
55 std::vector<double>::const_iterator _CumPDFit;
57 Sample<ColumnVector> _sample;
60 const ColumnVector& u,
62 const ColumnVector& z,
63 const ColumnVector& s);
68 const ColumnVector & u,
70 const ColumnVector & z,
71 const ColumnVector & s);
88 int resampleperiod = 0,
89 double resamplethreshold = 0,
90 int resamplescheme = DEFAULT_RS);
Particle filter using EKF for proposal step.
std::vector< SymmetricMatrix > _sampleCov
Sample Covariances for use with EKF Proposal density.
EKParticleFilter(MCPdf< ColumnVector > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
virtual bool UpdateInternal(SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u, MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
Actual implementation of Update, varies along filters.
virtual bool ProposalStepInternal(SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u, MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
virtual ~EKParticleFilter()
Destructor.
virtual bool Resample()
Resample also redefined for the same reasons...
Virtual Class representing all particle filters.