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BayesFilters 0.10.0 (2022-11-21)

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@xEnVrE xEnVrE released this 21 Nov 11:42
· 10 commits to master since this release
0.10.0
34fdd4d
CMake
  • Minor version increases since API compatibility is broken.
Filtering utilities
  • Improve documentation of methods bfl::utils::quaternion_to_rotation_vector(), bfl::utils::rotation_vector_to_quaternion(), bfl::utils::sum_quaternion_rotation_vector(), bfl::utils::diff_quaternion(),bfl::utils::mean_quaternion().
  • Implemented class VectorDescription which describes the size of the inner components of a state/measurement vector (linear, rotational and noise parts).
  • Updated the FunctionEvaluation alias within sigma_point.h in order to use a VectorDescription as one of the outputs.
  • Updated implementation of variants of the unscented_transform() transforms within sigma_point.h taking into account the new definition of the FunctionEvaluation alias.
  • Added a constructor to the UTWeight struct such that it can be constructed starting from a VectorDescription description.
  • Added support for quaternions in bfl::sigma_point::sigma_point() method.
  • Added support for quaternions in bfl::sigma_point::unscented_transform() method.
  • Implemented method VectorDescription::dof_size() providing the number of degrees of freedom associated to the vector (which might be different from VectorDescription::total_size()).
  • Fixed implementation of bfl::sigma_points::UTWeight constructor such that it uses the number of degrees of fredom of the vector to decide the number of sigma points to be initialized.
  • Added support for arguments inheriting from Eigen::MatrixBase<T> with different instances of T within the constructors of methods bfl::utils::sum_quaternion_rotation_vector(), bfl::utils::diff_quaternion and bfl::utils::mean_quaternion().
Filtering functions
  • Substituted ExogenousProcess::getOutputSize() with ExogenousProcess::getStateDescription() which uses the VectorDescription class to describe the size of the output of the exogenous process.
  • Substituted StateProcess::getOutputSize() with pure virtual StateProcess::getStateDescription() which uses the VectorDescription class to describe the size of the state of the state model.
  • Added pure virtual method StateProcess::getInputDescription() which uses the VectorDescription class to describe the size of the input to the state model.
  • Substituted MeasurementModel::getOutputSize() with MeasuremnetModel::getMeasurementDescription() which uses the VectorDescription class to describe the size of the measurement of the measurement model. This method is not mandatory and a default implementation (raising an exception) is provided as not all measurements are provided with a vectorial description.
  • Added method MeasurementModel::getInputDescription() which uses the VectorDescription class to describe the size of the input to the measurement model. This method is not mandatory and a default implementation (raising an exception) is provided as not all measurements are provided with a vectorial description.
  • Updated implementation of class WhiteNoiseAcceleration to take into account changes in the StateModel interface.
  • Updated implementation of class AdditiveStateModel to take into account changes in the StateModel interface.
  • Updated implementation of class SimulatedLinearSensor to take into account changes in the StateModel and MeasurementModel interfaces.
  • Added method StateModel::setSamplingTime() that sets the sampling time of the state model.
Filtering algorithms
  • Updated implementation of SUKFCorrection in order to extract relevant information on the measurement size using the VectorDescription of the adopted measurement model.
  • Updated implementation of UKFCorrection in order to extract relevant information on the measurement size using the VectorDescription of the adopted measurement model.
  • Updated implementation of UKFPrediction in order to extract relevant information on state size using the VectorDescription of the adopted state model.
  • Added support for measurement models having a time-varying input VectorDescription in UKFCorrection. The feature is enabled using a boolean argument in the constructor.
Test
  • Updated tests test_Gaussian_Density_UVR, test_UKF, test_UPF, test_UPF_MAP, test_mixed_KF_SUKF, test_mixed_KF_UKF and test_mixed_UKF_KF to account for the changes in the interface of the AdditiveMeasurementModel, UKFPrediction, UKFCorrection and SUKFCorrection classes.
Assets 2
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