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__
virtual ~NonminimalKalmanFilter()
Destructor.
Class representing Gaussian (or normal density)
Class representing the family of all Kalman Filters (EKF, IEKF, ...)
NonminimalKalmanFilter(Gaussian *prior, unsigned int NrIterations, vector< NLSysModel *> minimalsysmodels, vector< NLMeasModel *> minimalmeasmodels, vector< GiNaC::symbol > nonlinearstate= *(new vector< GiNaC::symbol >))