Program Listing for File ukf.h

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/*
 * Based on:
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 * Copyright (c) 2014, 2015, 2016, Charles River Analytics, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 * notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above
 * copyright notice, this list of conditions and the following
 * disclaimer in the documentation and/or other materials provided
 * with the distribution.
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 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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#ifndef LOCALIZATION_FUSION_UKF_H_
#define LOCALIZATION_FUSION_UKF_H_

#include <fstream>
#include <queue>
#include <set>
#include <vector>

#include "localization-fusion/filter-base.h"

namespace maplab {

class Ukf : public FilterBase {
 public:
  explicit Ukf(const double alpha, const double kappa, const double beta);

  ~Ukf();

  bool correct(
      const LocalizationFilterMeasurement& measurement,
      const std::vector<size_t>& update_vector);

  void predict(
      const LocalizationFilterPrediction& odom_prediction =
          LocalizationFilterPrediction());

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

  Eigen::MatrixXd weighted_covariance_sqrt_;

  std::vector<double> sigma_state_weights_;

  std::vector<double> sigma_covariance_weights_;

  double lambda_;
};

}  // namespace maplab

#endif  // LOCALIZATION_FUSION_UKF_H_