MultiModelFilter.h
Go to the documentation of this file.
1 /************************************************************************
2  * Copyright (C) 2012 Eindhoven University of Technology (TU/e). *
3  * All rights reserved. *
4  ************************************************************************
5  * Redistribution and use in source and binary forms, with or without *
6  * modification, are permitted provided that the following conditions *
7  * are met: *
8  * *
9  * 1. Redistributions of source code must retain the above *
10  * copyright notice, this list of conditions and the following *
11  * disclaimer. *
12  * *
13  * 2. Redistributions in binary form must reproduce the above *
14  * copyright notice, this list of conditions and the following *
15  * disclaimer in the documentation and/or other materials *
16  * provided with the distribution. *
17  * *
18  * THIS SOFTWARE IS PROVIDED BY TU/e "AS IS" AND ANY EXPRESS OR *
19  * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED *
20  * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE *
21  * ARE DISCLAIMED. IN NO EVENT SHALL TU/e OR CONTRIBUTORS BE LIABLE *
22  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR *
23  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT *
24  * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; *
25  * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF *
26  * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT *
27  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE *
28  * USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH *
29  * DAMAGE. *
30  * *
31  * The views and conclusions contained in the software and *
32  * documentation are those of the authors and should not be *
33  * interpreted as representing official policies, either expressed or *
34  * implied, of TU/e. *
35  ************************************************************************/
36 
37 #ifndef SE_MULTI_MODEL_FILTER_H_
38 #define SE_MULTI_MODEL_FILTER_H_
39 
41 #include "problib/conversions.h"
42 
43 class KalmanFilter;
44 
46 
47 public:
48 
50 
52 
53  virtual MultiModelFilter* clone() const;
54 
55  virtual ~MultiModelFilter();
56 
57  void addEstimator(mhf::IStateEstimator* estimator);
58 
63  virtual void propagate(const mhf::Time& time);
64 
70  void update(const pbl::PDF& z, const mhf::Time& time);
71 
75  virtual void reset();
76 
81  const pbl::PDF& getValue() const;
82 
83  void setValue(const pbl::PDF& pdf);
84 
91  bool setParameter(const std::string& param, bool b);
92 
99  bool setParameter(const std::string& param, double v);
100 
101 protected:
102 
104 
105  std::vector<mhf::IStateEstimator*> estimators_;
106 
107  std::vector<double> weights_;
108 
110 
111 };
112 
113 #endif
bool param(const std::string &param_name, T &param_val, const T &default_val)
std::vector< mhf::IStateEstimator * > estimators_
virtual ~MultiModelFilter()
void addEstimator(mhf::IStateEstimator *estimator)
Kalman filter with constant-velocity system model. The system noise is automatically calculated from ...
Definition: KalmanFilter.h:46
const pbl::PDF & getValue() const
Returns the current estimated state value.
void setValue(const pbl::PDF &pdf)
bool setParameter(const std::string &param, bool b)
Set a boolean parameter of this state estimator.
double Time
virtual MultiModelFilter * clone() const
virtual void reset()
Resets the internal state of the estimator to its initial value.
TFSIMD_FORCE_INLINE const tfScalar & z() const
virtual void propagate(const mhf::Time &time)
Propagates the internal state to Time time.
void update(const pbl::PDF &z, const mhf::Time &time)
Updates the internal state based on measurement z.
pbl::Mixture mixture_
std::vector< double > weights_


wire_state_estimators
Author(s): Sjoerd van den Dries, Jos Elfring
autogenerated on Fri Apr 16 2021 02:32:34