#include?
#include?
#include?
#include?

#include?

using?namespace?mrpt;
using?namespace?mrpt::bayes;
using?namespace?mrpt::math;
using?namespace?mrpt::utils;
using?namespace?mrpt::random;
using?namespace?std;


#define?DELTA_TIME????????????????????0.05f????//?Time?Step?between?Filter?Steps

//?系統狀態變量初始值（猜測值）
#define?VEHICLE_INITIAL_X????????????10.0f
#define?VEHICLE_INITIAL_Y????????????2000.0f
#define?VEHICLE_INITIAL_V???????????200.0f

#define?TRANSITION_MODEL_STD?????????1.0f????//?模型噪聲
#define?RANGE_SENSOR_NOISE_STD?????????5.0f????//?傳感器噪聲


/*?--------------------------------------------------------------------------------------------
????????Virtual?base?for?Kalman?Filter?（EKFIEKFUKF）?implementations.
template
class?mrpt::bayes::CKalmanFilterCapable

The?meaning?of?the?template?parameters?is:
VEH_SIZE:?The?dimension?of?the?“vehicle?state“（系統狀態變量數目）
OBS_SIZE:?The?dimension?of?each?observation?（eg?2?for?pixel?coordinates?3?for?3D?coordinatesetc）.（觀測量維數）
FEAT_SIZE:?The?dimension?of?the?features?in?the?system?state?（the?“map“）?or?0?if?not?applicable?（the?default?if?not?implemented）.
ACT_SIZE:?The?dimension?of?each?“action“?u_k?（or?0?if?not?applicable）.（控制量的維數）
KFTYPE:?The?numeric?type?of?the?matrices?（default:?double）

This?base?class?stores?the?state?vector?and?covariance?matrix?of?the?system.?It?has?virtual?methods?
that?must?be?completed?by?derived?classes?to?address?a?given?filtering?problem.
?----------------------------------------------------------------------------------------------?*/
//?Implementation?of?the?system?models?as?a?EKF
class?CRange:?public?CKalmanFilterCapable<3?1?0?0>
{
public:
????CRange（?）;
????virtual?~CRange（）;

????void??Process（?double?DeltaTime?double?observationRange）;

????void?getState（?KFVector?&xkk?KFMatrix?&pkk）
????{?
????????xkk?=?m_xkk;??//The?system?state?vector.
????????pkk?=?m_pkk;??//The?system?full?covariance?matrix
????}


protected:
????float?m_obsRange;????//?觀測值
????float?m_deltaTime;????//?Time?Step?between?Filter?Steps

????//?return?the?action?vector?u
????void?OnGetAction（?KFArray_ACT?&out_u?）?const;??

????//?Implements?the?transition?model?
????void?OnTransitionModel（const?KFArray_ACT?&in_uKFArray_VEH?&inout_xbool?&out_skipPrediction）?const;

????//?Implements?the?transition?Jacobian
????void?OnTransitionJacobian（KFMatrix_VxV??&out_F?）?const;

????//?Implements?the?transition?noise?covariance
????void?OnTransitionNoise（KFMatrix_VxV?&out_Q?）?const;

????//?Return?the?observation?NOISE?covariance?matrix?that?is?the?model?of?the?Gaussian?additive?noise?of?the?sensor.
????void?OnGetObservationNoise（KFMatrix_OxO?&out_R）?const;

????/**?This?is?called?between?the?KF?pred

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

????.......??????9364??2020-05-12?16:52??ekf_飛機位置一維空間\main.cpp

?????目錄??????????0??2020-05-12?16:52??ekf_飛機位置一維空間

-----------?---------??----------?-----??----

?????????????????9364????????????????????2