asirfilter.h
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1 // Copyright (C) 2003 Klaas Gadeyne <first dot last at gmail dot com>
2 //
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30 // $Id$
31 
32 #ifndef __ASIR_FILTER__
33 #define __ASIR_FILTER__
34 
35 #include "particlefilter.h"
36 
37 namespace BFL
38 {
39 
41 
79  template <typename StateVar, typename MeasVar> class ASIRFilter
80  : public ParticleFilter<StateVar,MeasVar>
81  {
82  protected:
84  virtual void UpdateInternal(SystemModel<StateVar>* const sysmodel,
85  const StateVar& u,
86  MeasurementModel<MeasVar,StateVar>* const measmodel,
87  const MeasVar& z,
88  const StateVar& s);
89 
90  public:
92 
100  int resampleperiod = 0,
101  double resamplethreshold = 0,
102  int resamplescheme = DEFAULT_RS);
103 
105  virtual ~ASIRFilter();
106 
107  // Default Copy constructor will do
108  };
110 #include "asirfilter.cpp"
111 
112 }
114 #endif // __ASIR_FILTER__
virtual ~ASIRFilter()
Destructor.
Definition: asirfilter.cpp:44
#define DEFAULT_RS
ASIRFilter(MCPdf< StateVar > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
Definition: asirfilter.cpp:26
ASIR: Auxiliary Particle Filter.
Definition: asirfilter.h:79
#define StateVar
Virtual Class representing all particle filters.
Monte Carlo Pdf: Sample based implementation of Pdf.
Definition: mcpdf.h:49
virtual void UpdateInternal(SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
Actual implementation of updateinternal.
Definition: asirfilter.cpp:48
#define MeasVar


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