public ExtendedKalmanFilter(StateTransitionModel stateTransitionModel, ProcessNoiseModel processNoiseModel)
{
this.stateTransitionModel = stateTransitionModel;
this.processNoiseModel = processNoiseModel;
}
// Use this for initialization
void Start()
{
// Initialize databases
unprocessedMeasurements = new Dictionary<uint, Dictionary<uint, List<GaussianMeasurement>>>(); // platformID, sensorID, meas
//unassociatedMeasurements = new Dictionary<uint, Dictionary<uint, List<GaussianMeasurement>>>(); // platformID, sensorID, meas
unassociatedMeasurements = new List<GaussianMeasurement>();
trackDatabase = new List<GaussianTrack>();
protoTrackDatabase = new List<GaussianTrack>();
// Initialize track ID bookkeeping
usedTrackIDs = new HashSet<ulong>();
availableTrackID = 0;
// Initialize models
stateTransitionModel = new ConstantVelocityModel();
processNoiseModel = new RandomAccelerationModel(2);
// Initialize components
associator = new ChiSquareAssociator(this, 16.2662f);
initializer = new SingleTrackInitializer(this, 5);
ekf = new ExtendedKalmanFilter(stateTransitionModel, processNoiseModel);
}