Program Listing for File ukf.hpp

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/*
 * Copyright (c) 2014, 2015, 2016 Charles River Analytics, Inc.
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 * notice, this list of conditions and the following disclaimer.
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#ifndef ROBOT_LOCALIZATION__UKF_HPP_
#define ROBOT_LOCALIZATION__UKF_HPP_

#include <vector>
#include <robot_localization/filter_base.hpp>

namespace robot_localization
{

class Ukf : public FilterBase
{
public:
  Ukf();

  ~Ukf();

  void setConstants(double alpha, double kappa, double beta);

  void correct(const Measurement & measurement) override;

  void predict(
    const rclcpp::Time & reference_time,
    const rclcpp::Duration & delta) override;

protected:
  std::vector<Eigen::VectorXd> sigma_points_;

  Eigen::MatrixXd weighted_covar_sqrt_;

  std::vector<double> state_weights_;

  std::vector<double> covar_weights_;

  double lambda_;

  bool uncorrected_;
};

}  // namespace robot_localization

#endif  // ROBOT_LOCALIZATION__UKF_HPP_