Re: [Bayes++] predict in EKF

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

On Friday 02 February 2007 04:54, Sunil Chomal wrote:
> In this I can implement f(x) in my predict class, so as to give the
> linearized update to state.  However, the state matrix Fx also requires
> re-computation as the jacobian of f(x) at x(k|k), and this needs to be
> updated too before call to predict. However, I am unable to figure how this
> is catered for in Bayes++, because f(x) is a const function, I cannot
> update Fx in f(x).

Just add another method to your model, e.g. "updateJacobian(double time)", and 
call it every time you need it before "f(x)".
Regards,
Nicola

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Nicola Bellotto
Department of Computer Science
University of Essex
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Colchester CO4 3SQ
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URL: http://privatewww.essex.ac.uk/~nbello
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