33 #ifndef __OPTIMALIMPORTANCE_FILTER__
34 #define __OPTIMALIMPORTANCE_FILTER__
36 #include "particlefilter.h"
89 int resampleperiod = 0,
90 double resamplethreshold = 0,
91 int resamplescheme = DEFAULT_RS);
128 #include "optimalimportancefilter.cpp"
Monte Carlo Pdf: Sample based implementation of Pdf.
Particular particle filter: Proposal PDF = Optimal Importance function.
OptimalImportanceFilter(const OptimalImportanceFilter< StateVar, MeasVar > &filt)
Copy constructor.
OptimalImportanceFilter(MCPdf< StateVar > *prior, int resampleperiod=0, double resamplethreshold=0, int resamplescheme=DEFAULT_RS)
Constructor.
virtual void Update(SystemModel< StateVar > *const sysmodel, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
Full Update (system without inputs, with sensing params)
virtual void Update(SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
Full Update (system with inputs/sensing params)
virtual void Update(MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z)
Measurement Update (system without "sensing params")
virtual void Update(SystemModel< StateVar > *const sysmodel, const StateVar &u)
Only sysupdate.
virtual void Update(SystemModel< StateVar > *const sysmodel)
System Update (system without inputs)
virtual ~OptimalImportanceFilter()
Destructor.
virtual void Update(MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z, const StateVar &s)
Only measupdate.
virtual void Update(SystemModel< StateVar > *const sysmodel, const StateVar &u, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z)
Full Update (system with inputs, without sensing params)
virtual void ConstructProposal(SystemModel< StateVar > *const sysmodel, MeasurementModel< MeasVar, StateVar > *const measmodel)
Construct Optimal importance density from a sys and meas. model.
virtual void Update(SystemModel< StateVar > *const sysmodel, MeasurementModel< MeasVar, StateVar > *const measmodel, const MeasVar &z)
Full Update (system without inputs/sensing params)
Virtual Class representing all particle filters.