bootstrapfilter.h
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1 // Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
2 //
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30 // $Id$
31 
32 #ifndef __BOOTSTRAP_FILTER__
33 #define __BOOTSTRAP_FILTER__
34 
35 #include "particlefilter.h"
36 
37 namespace BFL
38 {
39 
41 
71 template <typename StateVar, typename MeasVar> class BootstrapFilter
72  : public ParticleFilter<StateVar,MeasVar>
73 {
74  protected:
76  virtual bool UpdateInternal(SystemModel<StateVar>* const sysmodel,
77  const StateVar& u,
78  MeasurementModel<MeasVar,StateVar>* const measmodel,
79  const MeasVar& z,
80  const StateVar& s);
81 
82  public:
84 
92  int resampleperiod = 0,
93  double resamplethreshold = 0,
94  int resamplescheme = DEFAULT_RS);
95 
97 
106  MCPdf<StateVar> * post,
107  int resampleperiod = 0,
108  double resamplethreshold = 0,
109  int resamplescheme = DEFAULT_RS);
110 
112  virtual ~BootstrapFilter();
113 
114  // Default Copy constructor will do
115 
116 };
117 
118 #include "bootstrapfilter.cpp"
119 
120 }
121 
122 #endif // __BOOTSTRAP_FILTER__
Particular particle filter : Proposal PDF = SystemPDF.
virtual ~BootstrapFilter()
Destructor.
BootstrapFilter(MCPdf< StateVar > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
#define DEFAULT_RS
#define StateVar
virtual bool UpdateInternal(SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
Actual implementation of updateinternal.
Virtual Class representing all particle filters.
#define MeasVar
Monte Carlo Pdf: Sample based implementation of Pdf.
Definition: mcpdf.h:49


bfl
Author(s): Klaas Gadeyne, Wim Meeussen, Tinne Delaet and many others. See web page for a full contributor list. ROS package maintained by Wim Meeussen.
autogenerated on Mon Feb 28 2022 21:56:33