21 #ifndef __ITERATED_EXTENDED_KALMAN_FILTER__
22 #define __ITERATED_EXTENDED_KALMAN_FILTER__
24 #include "kalmanfilter.h"
25 #include "../pdf/conditionalpdf.h"
26 #include "../pdf/gaussian.h"
27 #include "innovationCheck.h"
77 unsigned int _nr_iterations;
81 struct MeasUpdateVariablesIExt
87 MeasUpdateVariablesIExt() {};
88 MeasUpdateVariablesIExt(
unsigned int meas_dimension,
unsigned int state_dimension):
90 , _K_i(state_dimension,meas_dimension)
91 , _H_i(meas_dimension,state_dimension)
92 , _Z_i(meas_dimension)
99 ColumnVector _x_i_prev;
101 ColumnVector _innovation;
104 SymmetricMatrix _P_Matrix;
106 std::map<unsigned int, MeasUpdateVariablesIExt> _mapMeasUpdateVariablesIExt;
107 std::map<unsigned int, MeasUpdateVariablesIExt>::iterator _mapMeasUpdateVariablesIExt_it;
112 #endif // __ITERATED_EXTENDED_KALMAN_FILTER__