innovationCheck.cpp
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00001 // $Id: innoationCheck.cpp tdelaet $
00002 // Copyright (C) 2007
00003 //                    Tinne De Laet <tinne dot delaet at mech dot kuleuven dot ac dot be>
00004 //
00005 // This program is free software; you can redistribute it and/or modify
00006 // it under the terms of the GNU Lesser General Public License as published by
00007 // the Free Software Foundation; either version 2.1 of the License, or
00008 // (at your option) any later version.
00009 //
00010 // This program is distributed in the hope that it will be useful,
00011 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00012 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00013 // GNU Lesser General Public License for more details.
00014 //
00015 // You should have received a copy of the GNU Lesser General Public License
00016 // along with this program; if not, write to the Free Software
00017 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
00018 //
00019 #include "innovationCheck.h"
00020 #include "../wrappers/rng/rng.h" // Wrapper around several rng libraries
00021 
00022 namespace BFL
00023 {
00024   using namespace MatrixWrapper;
00025 
00026 
00027   InnovationCheck::InnovationCheck(double min_inno)
00028     : min_innovation(min_inno)
00029   {}
00030 
00031   InnovationCheck::~InnovationCheck()
00032   {}
00033 
00034   bool
00035   InnovationCheck::check(ColumnVector innovation)
00036   {
00037         // basic implementation which checks if the norm of the innovation is
00038         // higher than the minimum innovation specified
00039         return (innovation.transpose() * innovation  >= min_innovation);
00040   }
00041 }


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 Fri Aug 28 2015 10:10:21