Use kalman to predict missing measurements

2019-11-13 15:08:40 +01:00
parent 2258fa92aa
commit d645ab7675
4 changed files with 114 additions and 11 deletions
--- a/code/filter.h
+++ b/code/filter.h
@@ -183,7 +183,7 @@ struct MyPFTransRandom : public SMC::ParticleFilterTransition<MyState, MyControl
        Distribution::Uniform<float> dHeading;

        MyPFTransRandom()
-            : dStepSize(2.0f, 0.2f), dHeading(0, 2*M_PI)
+            : dStepSize(1.5f, 0.2f), dHeading(0, 2*M_PI)
        {}

        void transition(std::vector<SMC::Particle<MyState>>& particles, const MyControl* control) override {