Bayesian Filtering Library
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innovationCheck.h
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// $Id: innovationCheck.h tdelaet $
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// Copyright (C) 2007 Tinne De Laet <first dot last at mech dot kuleuven dot be>
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU Lesser General Public License as published by
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// the Free Software Foundation; either version 2.1 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU Lesser General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
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//
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#ifndef __INNOVATION_CHECK__
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#define __INNOVATION_CHECK__
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#include <vector>
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#include "../wrappers/matrix/vector_wrapper.h"
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#include "../wrappers/matrix/matrix_wrapper.h"
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namespace
BFL
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{
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class
InnovationCheck
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{
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public
:
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InnovationCheck
(
double
min_innovation = 0.0 );
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virtual
~InnovationCheck
();
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bool
check
(
MatrixWrapper::ColumnVector
innovation);
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private
:
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double
min_innovation;
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};
// class
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}
// End namespace BFL
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#endif // __INNOVATION_CHECK__
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MatrixWrapper::ColumnVector
Wrapper class for ColumnVectors (Boost implementation)
Definition:
vector_BOOST.h:41
BFL::InnovationCheck::InnovationCheck
InnovationCheck(double min_innovation=0.0)
BFL::InnovationCheck
Class implementing an innovationCheck used in IEKF.
Definition:
innovationCheck.h:33
BFL::InnovationCheck::check
bool check(MatrixWrapper::ColumnVector innovation)
check Innovation
BFL::InnovationCheck::~InnovationCheck
virtual ~InnovationCheck()
Destructor.
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