Public Types
using	StateTransitionModel = _StateTransitionModel

using	MeasurementModel = _MeasurementModel

using	State = typename StateTransitionModel::Input_t

using	Measurement = typename MeasurementModel::Output_t

Public Member Functions
	ParticleFilter (const StateTransitionModel &state_transition_model, const MeasurementModel &measurement_model)

template<typename _Distribution >
_Distribution &	predict (_Distribution &x) const

template<typename _Distribution , typename _Noise >
_Distribution &	predict (_Distribution &x, const _Noise &process_noise) const

template<typename ... Args>
auto	update (const typename measurement_transform_t::Input_variable_t &x, const measurement_t &z, const Args &... args) const
	Update the state, using prior state possibly augmented with measurement noise, propagating variable as Gaussian. More...

auto	update (typename measurement_transform_t::Input_variable_t::unaugmented_t &x, const measurement_t &z, const typename measurement_transform_t::Input_variable_t::augmentation_t &aug) const
	Update the state, using prior state possibly augmented with measurement noise, propagating variable as Gaussian. More...

Protected Attributes
const StateTransitionModel &	state_transition_model

const MeasurementModel &	measurement_model

Member Function Documentation

◆ update() [1/2]

template<typename _StateTransitionModel , typename _MeasurementModel >

template<typename ... Args>

auto OpenKalman::ParticleFilter< _StateTransitionModel, _MeasurementModel >::update	(	const typename measurement_transform_t::Input_variable_t &	x,
		const measurement_t &	z,
		const Args &...	args
	)		const

inline

Update the state, using prior state possibly augmented with measurement noise, propagating variable as Gaussian.

Template Parameters

Args	type of measurement noise (Gaussian or square root form, same dimensions as measurement variable)

Parameters

x	the current state variable (Gaussian), possibly augmented with measurement noise
z	The measurement vector
args	the optional additive process noise

template<typename _StateTransitionModel , typename _MeasurementModel >

auto OpenKalman::ParticleFilter< _StateTransitionModel, _MeasurementModel >::update	(	typename measurement_transform_t::Input_variable_t::unaugmented_t &	x,
		const measurement_t &	z,
		const typename measurement_transform_t::Input_variable_t::augmentation_t &	aug
	)		const

inline

Update the state, using prior state possibly augmented with measurement noise, propagating variable as Gaussian.

Parameters

x	the current state variable (Gaussian), possibly augmented with measurement noise
z	The measurement vector
aug	the measurement noise for augmentation

The documentation for this struct was generated from the following file: