[Bayes++] "observe" and "observe_innovation" for EKF

[Nicola B. <nb...@es...>]

Hi,
I've some doubt about the use of the two funtions "observe" and 
"observe_innovation". From what I've understood, they do the same job 
(correction step), but:
- "observe" computes internally the innovation from the given real measure 
'z';
- "observe_innovation" needs the innovation 's' to be computed externally and 
then passed as argument.
Is that correct?
Cheers
Nicola


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Nicola Bellotto
University of Essex
Department of Computer Science
Wivenhoe Park
Colchester CO4 3SQ
United Kingdom

Room: 1N1.2.8
Tel. +44 (0)1206 874094
E-Mail: nb...@es...
URL: http://privatewww.essex.ac.uk/~nbello
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