ekf_test.hpp
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00001 // Copyright (C) 2008 Willow Garage inc.
00002 //
00003 // This program is free software; you can redistribute it and/or modify
00004 // it under the terms of the GNU General Public License as published by
00005 // the Free Software Foundation; either version 2 of the License, or
00006 // (at your option) any later version.
00007 //
00008 // This program is distributed in the hope that it will be useful,
00009 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00010 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00011 // GNU General Public License for more details.
00012 //
00013 // You should have received a copy of the GNU General Public License
00014 // along with this program; if not, write to the Free Software
00015 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00016 //
00017 
00018 #ifndef EKF_TEST_HPP
00019 #define EKF_TEST_HPP
00020 
00021 #include <cppunit/extensions/HelperMacros.h>
00022 #include <filter/extendedkalmanfilter.h>
00023 #include <model/linearanalyticsystemmodel_gaussianuncertainty.h>
00024 #include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h>
00025 #include <pdf/linearanalyticconditionalgaussian.h>
00026 
00027 
00028 namespace BFL
00029 {
00030 
00031 class EKFTest : public CppUnit::TestFixture
00032 {
00033   CPPUNIT_TEST_SUITE( EKFTest );
00034   CPPUNIT_TEST( testMeasUpdate );
00035   CPPUNIT_TEST_SUITE_END();
00036 
00037 public:
00038   void setUp();
00039   void tearDown();
00040 
00041   void testMeasUpdate();
00042 
00043 private:
00044   double epsilon_;
00045   LinearAnalyticMeasurementModelGaussianUncertainty* meas_model_;
00046   LinearAnalyticConditionalGaussian*                 meas_pdf_;
00047   Gaussian*                                          prior_;
00048   ExtendedKalmanFilter*                              filter_;
00049 
00050 };
00051 }
00052 
00053 #endif  // EKF_TEST_HPP


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 Sun Oct 5 2014 22:29:52