innovationCheck.h
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1 // $Id: innovationCheck.h tdelaet $
2 // Copyright (C) 2007 Tinne De Laet <first dot last at mech dot kuleuven dot be>
3 //
4 // This program is free software; you can redistribute it and/or modify
5 // it under the terms of the GNU Lesser General Public License as published by
6 // the Free Software Foundation; either version 2.1 of the License, or
7 // (at your option) any later version.
8 //
9 // This program is distributed in the hope that it will be useful,
10 // but WITHOUT ANY WARRANTY; without even the implied warranty of
11 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 // GNU Lesser General Public License for more details.
13 //
14 // You should have received a copy of the GNU Lesser General Public License
15 // along with this program; if not, write to the Free Software
16 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
17 //
18 
19 #ifndef __INNOVATION_CHECK__
20 #define __INNOVATION_CHECK__
21 
22 #include <vector>
23 #include "../wrappers/matrix/vector_wrapper.h"
24 #include "../wrappers/matrix/matrix_wrapper.h"
25 
26 namespace BFL
27 {
28 
30 
34  {
35 
36  public:
41  InnovationCheck(double min_innovation = 0.0 );
42 
44  virtual ~InnovationCheck();
45 
47 
51  bool check(MatrixWrapper::ColumnVector innovation);
52 
53  private:
56 
57  }; // class
58 
59 } // End namespace BFL
60 
61 #endif // __INNOVATION_CHECK__
62 
virtual ~InnovationCheck()
Destructor.
InnovationCheck(double min_innovation=0.0)
Class implementing an innovationCheck used in IEKF.
double min_innovation
the minimal innovation desired per iteration of the iteratedExtendedKalmanFilter
bool check(MatrixWrapper::ColumnVector innovation)
check Innovation


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