20 #ifndef __NONMINIMAL_KALMAN_FILTER__
21 #define __NONMINIMAL_KALMAN_FILTER__
23 #include "kalmanfilter.h"
24 #include "../pdf/conditionalpdf.h"
25 #include "../pdf/gaussian.h"
26 #include "../model/nonlinearanalyticmeasurementmodel_gaussianuncertainty.h"
27 #include "../model/nonlinearanalyticsystemmodel_gaussianuncertainty.h"
28 #include "nonminimal_state/linearise.h"
29 #include "../filter/iteratedextendedkalmanfilter.h"
34 #define NLSysModel NonLinearAnalyticSystemModelGaussianUncertainty
35 #define NLMeasModel NonLinearAnalyticMeasurementModelGaussianUncertainty
60 unsigned int NrIterations,
61 vector<NLSysModel*> minimalsysmodels,
62 vector<NLMeasModel*> minimalmeasmodels,
63 vector<GiNaC::symbol> nonlinearstate = *(
new vector<GiNaC::symbol>));
70 const ColumnVector& u);
72 const ColumnVector& z,
73 const ColumnVector& s);
76 vector<GiNaC::symbol> MinimalState, NonminimalState;
79 Gaussian *NonminimalPrior, *MinimalPrior;
80 NLMeasModel *MinimalMeasModel;
86 #endif // __NONMINIMAL_KALMAN_FILTER__