| 78 | |
| 79 | |
| 80 | Bayes_base::Float |
| 81 | CI_scheme::observe_innovation (Linrz_uncorrelated_observe_model& h, const FM::Vec& s) |
| 82 | /* Iterated Extended Kalman Filter |
| 83 | * Bar-Shalom and Fortmann p.119 (full scheme) |
| 84 | * A hard limit is placed on the iterations whatever the |
| 85 | * the normal terminal condition is to guarantee termination |
| 86 | * Uncorrelated noise |
| 87 | */ |
| 88 | { |
| 89 | // ISSUE: Implement simplified uncorrelated noise equations |
| 90 | std::size_t z_size = s.size(); |
| 91 | SymMatrix Z(z_size,z_size); |
| 92 | |
| 93 | Adapted_Linrz_correlated_observe_model hh(h); |
| 94 | return observe_innovation (hh, s); |
| 95 | } |
| 96 | |
| 97 | |
| 98 | Bayes_base::Float |
nothing calls this directly
no test coverage detected