Particle filter using EKF for proposal step.
std::vector< SymmetricMatrix > _sampleCov
Sample Covariances for use with EKF Proposal density.
EKParticleFilter(MCPdf< ColumnVector > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
virtual bool UpdateInternal(SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u, MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
Actual implementation of Update, varies along filters.
virtual bool ProposalStepInternal(SystemModel< ColumnVector > *const sysmodel, const ColumnVector &u, MeasurementModel< ColumnVector, ColumnVector > *const measmodel, const ColumnVector &z, const ColumnVector &s)
virtual ~EKParticleFilter()
Destructor.
virtual bool Resample()
Resample also redefined for the same reasons...
Virtual Class representing all particle filters.