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
26namespace BFL
27{
28
30
34 {
35
36 public:
41 InnovationCheck(double min_innovation = 0.0 );
42
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)