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Update cubature filter library to align with coding conventions

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This commit is contained in:
Gerald LaMountain
2019-06-13 11:07:10 -04:00
parent c567be407c
commit 83d77fabb0
3 changed files with 15 additions and 31 deletions
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9
src/algorithms/tracking/libs/cubature_filter.cc
View File

@@ -84,7 +84,7 @@ void Cubature_filter::initialize(const arma::mat& x_pred_0, const arma::mat& P_x
/*
* Perform the prediction step of the cubature Kalman filter
*/
void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance)
void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_post.n_elem;
@@ -125,7 +125,7 @@ void Cubature_filter::predict_sequential(const arma::vec& x_post, const arma::ma
/*
* Perform the update step of the cubature Kalman filter
*/
void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance)
void Cubature_filter::update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance)
{
// Compute number of cubature points
int nx = x_pred.n_elem;
@@ -188,8 +188,3 @@ arma::mat Cubature_filter::get_P_x_est() const
{
return P_x_est;
}
double Cubature_filter::func_number(double number, TestModel* func)
{
return (*func)(number);
}

21
src/algorithms/tracking/libs/cubature_filter.h
View File

@@ -45,19 +45,11 @@
#include <gnuradio/gr_complex.h>
// Abstract model function
class ModelFunction{
class Model_Function{
public:
ModelFunction() {};
Model_Function() {};
virtual arma::vec operator() (arma::vec input) = 0;
virtual ~ModelFunction() = default;
};
class TestModel{
public:
TestModel() {};
//virtual arma::vec operator() (arma::vec input) = 0;
virtual double operator() (double input) = 0;
virtual ~TestModel() = default;
virtual ~Model_Function() = default;
};
class Cubature_filter
@@ -73,8 +65,8 @@ public:
void initialize(const arma::mat& x_pred_0, const arma::mat& P_x_pred_0);
// Prediction and estimation
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, ModelFunction* transition_fcn, const arma::mat& noise_covariance);
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, ModelFunction* measurement_fcn, const arma::mat& noise_covariance);
void predict_sequential(const arma::vec& x_post, const arma::mat& P_x_post, Model_Function* transition_fcn, const arma::mat& noise_covariance);
void update_sequential(const arma::vec& z_upd, const arma::vec& x_pred, const arma::mat& P_x_pred, Model_Function* measurement_fcn, const arma::mat& noise_covariance);
// Getters
arma::mat get_x_pred() const;
@@ -82,9 +74,6 @@ public:
arma::mat get_x_est() const;
arma::mat get_P_x_est() const;
//Test-dev
double func_number(double number, TestModel* func);
private:
arma::vec x_pred_out;
arma::mat P_x_pred_out;