Class implementing an innovationCheck used in IEKF. More...
#include <innovationCheck.h>
Public Member Functions | |
| bool | check (MatrixWrapper::ColumnVector innovation) |
| check Innovation | |
| InnovationCheck (double min_innovation=0.0) | |
| virtual | ~InnovationCheck () |
| Destructor. | |
Private Attributes | |
| double | min_innovation |
| the minimal innovation desired per iteration of the iteratedExtendedKalmanFilter | |
Class implementing an innovationCheck used in IEKF.
This is a class implementing the innovationCheck class used for Iterated Extended Kalman Filters innovation check.
Definition at line 33 of file innovationCheck.h.
| BFL::InnovationCheck::InnovationCheck | ( | double | min_innovation = 0.0 | ) |
Constructor
| min_innovation | is the minimal innovation desired per iteration of the iteratedExtendedKalmanFilter |
Definition at line 27 of file innovationCheck.cpp.
| BFL::InnovationCheck::~InnovationCheck | ( | ) | [virtual] |
Destructor.
Definition at line 31 of file innovationCheck.cpp.
| bool BFL::InnovationCheck::check | ( | MatrixWrapper::ColumnVector | innovation | ) |
check Innovation
Returns true if the innovation is still considered 'larger' than the minimal innovation
| innovation | innovation to be checked |
Definition at line 35 of file innovationCheck.cpp.
double BFL::InnovationCheck::min_innovation [private] |
the minimal innovation desired per iteration of the iteratedExtendedKalmanFilter
Definition at line 55 of file innovationCheck.h.