00001 /* 00002 * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions 00007 * are met: 00008 * 00009 * 1. Redistributions of source code must retain the above copyright 00010 * notice, this list of conditions and the following disclaimer. 00011 * 2. Redistributions in binary form must reproduce the above 00012 * copyright notice, this list of conditions and the following 00013 * disclaimer in the documentation and/or other materials provided 00014 * with the distribution. 00015 * 3. Neither the name of the copyright holder nor the names of its 00016 * contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00020 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00021 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00022 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00023 * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00024 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00025 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00026 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00027 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00028 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00029 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00030 * POSSIBILITY OF SUCH DAMAGE. 00031 */ 00032 00033 #ifndef ROBOT_LOCALIZATION_UKF_H 00034 #define ROBOT_LOCALIZATION_UKF_H 00035 00036 #include "robot_localization/filter_base.h" 00037 00038 #include <fstream> 00039 #include <vector> 00040 #include <set> 00041 #include <queue> 00042 00043 namespace RobotLocalization 00044 { 00045 00060 class Ukf: public FilterBase 00061 { 00062 public: 00069 explicit Ukf(std::vector<double> args); 00070 00073 ~Ukf(); 00074 00079 void correct(const Measurement &measurement); 00080 00089 void predict(const double referenceTime, const double delta); 00090 00091 protected: 00096 std::vector<Eigen::VectorXd> sigmaPoints_; 00097 00100 Eigen::MatrixXd weightedCovarSqrt_; 00101 00105 std::vector<double> stateWeights_; 00106 00110 std::vector<double> covarWeights_; 00111 00114 double lambda_; 00115 00119 bool uncorrected_; 00120 }; 00121 00122 } // namespace RobotLocalization 00123 00124 #endif // ROBOT_LOCALIZATION_UKF_H