innovationCheck.cpp
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1 // $Id: innoationCheck.cpp tdelaet $
2 // Copyright (C) 2007
3 // Tinne De Laet <tinne dot delaet at mech dot kuleuven dot ac dot be>
4 //
5 // This program is free software; you can redistribute it and/or modify
6 // it under the terms of the GNU Lesser General Public License as published by
7 // the Free Software Foundation; either version 2.1 of the License, or
8 // (at your option) any later version.
9 //
10 // This program is distributed in the hope that it will be useful,
11 // but WITHOUT ANY WARRANTY; without even the implied warranty of
12 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13 // GNU Lesser General Public License for more details.
14 //
15 // You should have received a copy of the GNU Lesser General Public License
16 // along with this program; if not, write to the Free Software
17 // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
18 //
19 #include "innovationCheck.h"
20 #include "../wrappers/rng/rng.h" // Wrapper around several rng libraries
21 
22 namespace BFL
23 {
24  using namespace MatrixWrapper;
25 
26 
28  : min_innovation(min_inno)
29  {}
30 
32  {}
33 
34  bool
35  InnovationCheck::check(ColumnVector innovation)
36  {
37  // basic implementation which checks if the norm of the innovation is
38  // higher than the minimum innovation specified
39  return (innovation.transpose() * innovation >= min_innovation);
40  }
41 }
virtual ~InnovationCheck()
Destructor.
InnovationCheck(double min_innovation=0.0)
double min_innovation
the minimal innovation desired per iteration of the iteratedExtendedKalmanFilter
bool check(MatrixWrapper::ColumnVector innovation)
check Innovation


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