ekf.h

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/*
 * Copyright (c) 2014, 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_Ekf_h
#define RobotLocalization_Ekf_h

#include <robot_localization/filter_base.h>

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

namespace RobotLocalization
{
  class Ekf: public FilterBase
  {
    public:

      Ekf();

      ~Ekf();

    protected:

      void correct(const Measurement &measurement);

      void predict(const double delta);

  };
}

#endif