Cooperative-Positioning-Filters/iekf_8h_source.html

#ifndef INCLUDE_INCLUDE_IEKF_H_

#define INCLUDE_INCLUDE_IEKF_H_


#include "ekf.h"


#include <DataHandler/DataHandler.h>

#include <Eigen/Dense>


class IEKF : public EKF {

public:

  explicit IEKF(DataHandler &data);

  ~IEKF() override;


private:

  const unsigned short max_iterations = 1;


  void correction(EstimationParameters &,

                  const EstimationParameters &) override;


  void robustCorrection(EstimationParameters &, const EstimationParameters &);

};


#endif // INCLUDE_INCLUDE_IEKF_H_

EKF
Extended Kalman Filter.
Definition ekf.h:25

IEKF
Itertative Extended Kalman Filter (IEKF).
Definition iekf.h:28

IEKF::max_iterations
const unsigned short max_iterations
Definition iekf.h:34

IEKF::~IEKF
~IEKF() override
Default destructor.
Definition iekf.cpp:28

IEKF::robustCorrection
void robustCorrection(EstimationParameters &, const EstimationParameters &)
A robust version of the correction function that uses the Huber cost function to increase estimation ...
Definition iekf.cpp:122

IEKF::correction
void correction(EstimationParameters &, const EstimationParameters &) override
Performs the Iterative Extended Kalman correct step.
Definition iekf.cpp:36

ekf.h
Header file of the Extended Kalman Fitler implementation for multirobot cooperative positioning.

Filter::EstimationParameters
Houses the parameters required for performing Bayesian filtering.
Definition filter.h:103