79 struct MeasUpdateVariables
85 MeasUpdateVariables() {};
86 MeasUpdateVariables(
unsigned int meas_dimension,
unsigned int state_dimension):
87 _S_Matrix(meas_dimension,meas_dimension)
88 , _K(state_dimension,meas_dimension)
89 , _innov(meas_dimension)
90 , _postHT(state_dimension,meas_dimension)
97 SymmetricMatrix _Sigma_new;
99 Matrix _Sigma_temp_par;
103 std::map<unsigned int, MeasUpdateVariables> _mapMeasUpdateVariables;
104 std::map<unsigned int, MeasUpdateVariables>::iterator _mapMeasUpdateVariables_it;
123 void CalculateSysUpdate(
const MatrixWrapper::ColumnVector& J,
const MatrixWrapper::Matrix& F,
const MatrixWrapper::SymmetricMatrix& Q);
131 void CalculateMeasUpdate(
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::ColumnVector& Z,
const MatrixWrapper::Matrix& H,
const MatrixWrapper::SymmetricMatrix& R);
140 const MatrixWrapper::ColumnVector& u) = 0;
155 const MatrixWrapper::ColumnVector& z,
156 const MatrixWrapper::ColumnVector& s) = 0;
159 const MatrixWrapper::ColumnVector& u,
161 const MatrixWrapper::ColumnVector& z,
162 const MatrixWrapper::ColumnVector& s);
165 void CalculateNis(
const MatrixWrapper::ColumnVector& z,
const MatrixWrapper::ColumnVector& Z,
const MatrixWrapper::Matrix& H,
const MatrixWrapper::SymmetricMatrix& R);
virtual bool UpdateInternal(SystemModel< MatrixWrapper::ColumnVector > *const sysmodel, const MatrixWrapper::ColumnVector &u, MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *const measmodel, const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &s)
Actual implementation of Update, varies along filters.
virtual void MeasUpdate(MeasurementModel< MatrixWrapper::ColumnVector, MatrixWrapper::ColumnVector > *const measmodel, const MatrixWrapper::ColumnVector &z, const MatrixWrapper::ColumnVector &s)=0
Measurement Update (overloaded)