ukf.h

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/*
 * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions
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 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
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#ifndef ROBOT_LOCALIZATION_UKF_H
#define ROBOT_LOCALIZATION_UKF_H

#include "robot_localization/filter_base.h"

#include <fstream>
#include <vector>
#include <set>
#include <queue>

namespace RobotLocalization
{

class Ukf: public FilterBase
{
  public:
    explicit Ukf(std::vector<double> args);

    ~Ukf();

    void correct(const Measurement &measurement);

    void predict(const double referenceTime, const double delta);

  protected:
    std::vector<Eigen::VectorXd> sigmaPoints_;

    Eigen::MatrixXd weightedCovarSqrt_;

    std::vector<double> stateWeights_;

    std::vector<double> covarWeights_;

    double lambda_;

    bool uncorrected_;
};

}  // namespace RobotLocalization

#endif  // ROBOT_LOCALIZATION_UKF_H