ukf.h

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/*
 * Copyright (c) 2015, Charles River Analytics, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
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 * from this software without specific prior written permission.
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#ifndef RobotLocalization_Ukf_h
#define RobotLocalization_Ukf_h

#include "robot_localization/filter_base.h"

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

namespace RobotLocalization
{
  class Ukf: public FilterBase
  {
    public:

      Ukf(std::vector<double> args);

      ~Ukf();

      void correct(const Measurement &measurement);

      void predict(const double delta);

    protected:

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

      Eigen::MatrixXd weightedCovarSqrt_;

      std::vector<double> stateWeights_;

      std::vector<double> covarWeights_;

      double lambda_;

      bool uncorrected_;

  };
}

#endif