// Default NULL version
public virtual bool make_internal_measurement(Internal_Measurement_Model m,
Vector v,
Vector v2,
MatrixFixed mt)
{
Debug.WriteLine("WARNING: make_internal_measurement not implemented.");
return false;
}
//friend class Scene_Single;
//friend class Kalman;
public Internal_Measurement(Internal_Measurement_Model i_m_m)
{
internal_measurement_model = i_m_m;
hv = new Vector(internal_measurement_model.MEASUREMENT_SIZE);
zv = new Vector(internal_measurement_model.MEASUREMENT_SIZE);
nuv = new Vector(internal_measurement_model.MEASUREMENT_SIZE);
dhv_by_dxv = new MatrixFixed(internal_measurement_model.MEASUREMENT_SIZE, internal_measurement_model.get_motion_model().STATE_SIZE);
Rv = new MatrixFixed(internal_measurement_model.MEASUREMENT_SIZE, internal_measurement_model.MEASUREMENT_SIZE);
Sv = new MatrixFixed(internal_measurement_model.MEASUREMENT_SIZE, internal_measurement_model.MEASUREMENT_SIZE);
// if (DEBUGDUMP) cout << "Adding Internal Measurement type "
// << internal_measurement_model.internal_type << endl;
}
//***************************Internal Measurements*****************************
public void add_internal_measurement(Internal_Measurement_Model internal_measurement_model)
{
Internal_Measurement im = new Internal_Measurement(internal_measurement_model);
internal_measurement_vector.Add(im);
}