Bayesian Filtering Library  Generated from SVN r
innovationCheck.h
1 // $Id: innovationCheck.h tdelaet $
2 // Copyright (C) 2007 Tinne De Laet <first dot last at mech dot kuleuven dot be>
3 //
4 // This program is free software; you can redistribute it and/or modify
5 // it under the terms of the GNU Lesser General Public License as published by
6 // the Free Software Foundation; either version 2.1 of the License, or
7 // (at your option) any later version.
8 //
9 // This program is distributed in the hope that it will be useful,
10 // but WITHOUT ANY WARRANTY; without even the implied warranty of
11 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 // GNU Lesser General Public License for more details.
13 //
14 // You should have received a copy of the GNU Lesser General Public License
15 // along with this program; if not, write to the Free Software
16 // Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
17 //
18 
19 #ifndef __INNOVATION_CHECK__
20 #define __INNOVATION_CHECK__
21 
22 #include <vector>
23 #include "../wrappers/matrix/vector_wrapper.h"
24 #include "../wrappers/matrix/matrix_wrapper.h"
25 
26 namespace BFL
27 {
28 
30 
34  {
35 
36  public:
41  InnovationCheck(double min_innovation = 0.0 );
42 
44  virtual ~InnovationCheck();
45 
47 
51  bool check(MatrixWrapper::ColumnVector innovation);
52 
53  private:
55  double min_innovation;
56 
57  }; // class
58 
59 } // End namespace BFL
60 
61 #endif // __INNOVATION_CHECK__
62 
Class implementing an innovationCheck used in IEKF.
bool check(MatrixWrapper::ColumnVector innovation)
check Innovation
virtual ~InnovationCheck()
Destructor.
InnovationCheck(double min_innovation=0.0)