88 lines
3.1 KiB
C++
88 lines
3.1 KiB
C++
/*
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* Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* 3. Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ROBOT_LOCALIZATION_EKF_H
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#define ROBOT_LOCALIZATION_EKF_H
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#include "robot_localization/filter_base.h"
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#include <fstream>
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#include <vector>
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#include <set>
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#include <queue>
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namespace RobotLocalization
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{
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//! @brief Extended Kalman filter class
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//!
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//! Implementation of an extended Kalman filter (EKF). This
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//! class derives from FilterBase and overrides the predict()
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//! and correct() methods in keeping with the discrete time
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//! EKF algorithm.
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//!
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class Ekf: public FilterBase
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{
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public:
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//! @brief Constructor for the Ekf class
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//!
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//! @param[in] args - Generic argument container (not used here, but
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//! needed so that the ROS filters can pass arbitrary arguments to
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//! templated filter types).
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//!
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explicit Ekf(std::vector<double> args = std::vector<double>());
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//! @brief Destructor for the Ekf class
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//!
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~Ekf();
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//! @brief Carries out the correct step in the predict/update cycle.
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//!
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//! @param[in] measurement - The measurement to fuse with our estimate
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//!
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void correct(const Measurement &measurement);
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//! @brief Carries out the predict step in the predict/update cycle.
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//!
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//! Projects the state and error matrices forward using a model of
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//! the vehicle's motion.
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//!
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//! @param[in] referenceTime - The time at which the prediction is being made
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//! @param[in] delta - The time step over which to predict.
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//!
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void predict(const double referenceTime, const double delta);
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};
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} // namespace RobotLocalization
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#endif // ROBOT_LOCALIZATION_EKF_H
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