Exemplos de Feature_Measurement_Model.get_motion_model em C# (CSharp)

Exemplo n.º 1

        /// <summary>
        /// Function which unites common stuff for constructors below
        /// Constructor stuff which is common to more than one constructor
        /// </summary>
        protected void feature_constructor_bookeeping()
        {
            selected_flag = false;        // Feature is unselected when first detected
            scheduled_for_termination_flag     = false;
            attempted_measurements_of_feature  = 0;
            successful_measurements_of_feature = 0;

            // Allocate matrices for storing predicted and actual measurements
            h      = new Vector(feature_measurement_model.MEASUREMENT_SIZE);
            z      = new Vector(feature_measurement_model.MEASUREMENT_SIZE);
            prev_z = new Vector(feature_measurement_model.MEASUREMENT_SIZE);
            nu     = new Vector(feature_measurement_model.MEASUREMENT_SIZE);

            vz     = new Vector(2);
            accn_z = new Vector(2);

            dh_by_dxv = new MatrixFixed(feature_measurement_model.MEASUREMENT_SIZE, feature_measurement_model.get_motion_model().STATE_SIZE);
            dh_by_dy  = new MatrixFixed(feature_measurement_model.MEASUREMENT_SIZE, feature_measurement_model.FEATURE_STATE_SIZE);
            R         = new MatrixFixed(feature_measurement_model.MEASUREMENT_SIZE, feature_measurement_model.MEASUREMENT_SIZE);
            S         = new MatrixFixed(feature_measurement_model.MEASUREMENT_SIZE, feature_measurement_model.MEASUREMENT_SIZE);
        }