Fwd: [Bayes++] normalise funtion in observe models

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

Still referring to my previous email, what would be a normalization function 
for the following observation model:

z_pred[0] = atan2(x[1], x[0]);
z_pred[1] = - atan2(x[2], sqrt(sqr(x[0]) + sqr(x[1]));
z_pred[2] = sqrt(sqr(x[0]) + sqr(x[1]));

where the first two components are angles?
I'd really appreciate any suggestion. Thanks.
Nicola

----------  Forwarded Message  ----------

Subject: [Bayes++] normalise funtion in observe models
Date: Wednesday 05 Apr 2006 20:52
To: bay...@li...

Hi,
I'm having some problems with the UKF and I don't understand whether this
depends from the fact that I didn't implement a normalise(...) function on my
observation model. This function seems to be necessary when the model is
discontinuos, but still it's not very clear to me how to use it.
Can anyone report a simple example of discontinuos model and relative
normalisation function?
Thanks
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
URL: http://privatewww.essex.ac.uk/~nbello
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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
URL: http://privatewww.essex.ac.uk/~nbello
------------------------------------------