| 89 | } |
| 90 | |
| 91 | Bayes_base::Float |
| 92 | Iterated_covariance_scheme::observe (Linrz_uncorrelated_observe_model& h, Iterated_terminator& term, const FM::Vec& z) |
| 93 | /* Iterated Extended Kalman Filter |
| 94 | * Bar-Shalom and Fortmann p.119 (full scheme) |
| 95 | * A hard limit is placed on the iterations whatever the |
| 96 | * the normal terminal condition is to guarantee termination |
| 97 | * Uncorrelated noise |
| 98 | */ |
| 99 | { |
| 100 | // ISSUE: Implement simplified uncorrelated noise equations |
| 101 | Adapted_Linrz_correlated_observe_model hh(h); |
| 102 | return observe (hh, term, z); |
| 103 | } |
| 104 | |
| 105 | Bayes_base::Float |
| 106 | Iterated_covariance_scheme::observe (Linrz_correlated_observe_model& h, Iterated_terminator& term, const FM::Vec& z) |
nothing calls this directly
no test coverage detected