21 #ifndef INCLUDED_RADAR_TRACKING_SINGLETARGET_IMPL_H 22 #define INCLUDED_RADAR_TRACKING_SINGLETARGET_IMPL_H 37 float std_velocity_meas,
39 float threshold_track,
float d_time
Definition: tracking_singletarget_impl.h:51
void handle_msg(pmt::pmt_t msg)
std::vector< std::vector< float > > R_inv
Definition: tracking_singletarget_impl.h:59
float random_normal(float mean, float std)
This block tracks a singletarget detection with a particle or kalman filter. As input values with ide...
Definition: tracking_singletarget.h:54
Definition: tracking_singletarget_impl.h:29
float d_std_range_meas
Definition: tracking_singletarget_impl.h:50
float d_std_accel_sys
Definition: tracking_singletarget_impl.h:50
bool d_is_empty
Definition: tracking_singletarget_impl.h:58
float d_velocity_meas
Definition: tracking_singletarget_impl.h:51
pmt::pmt_t d_port_id_out
Definition: tracking_singletarget_impl.h:53
std::vector< std::vector< float > > P
Definition: tracking_singletarget_impl.h:59
int d_lost
Definition: tracking_singletarget_impl.h:57
float d_velocity_est
Definition: tracking_singletarget_impl.h:55
int d_threshold_lost
Definition: tracking_singletarget_impl.h:63
float d_range_est
Definition: tracking_singletarget_impl.h:55
float d_delta_t
Definition: tracking_singletarget_impl.h:56
float d_threshold_track
Definition: tracking_singletarget_impl.h:62
float d_std_velocity_meas
Definition: tracking_singletarget_impl.h:50
std::vector< float > d_particle_weight
Definition: tracking_singletarget_impl.h:60
float d_time_last
Definition: tracking_singletarget_impl.h:55
Definition: crop_matrix_vcvc.h:28
std::vector< std::vector< float > > K
Definition: tracking_singletarget_impl.h:59
int d_num_particle
Definition: tracking_singletarget_impl.h:49
std::vector< std::vector< float > > R
Definition: tracking_singletarget_impl.h:59
float d_range_meas
Definition: tracking_singletarget_impl.h:51
std::string d_filter
Definition: tracking_singletarget_impl.h:64
std::vector< float > d_particle_velocity
Definition: tracking_singletarget_impl.h:60
pmt::pmt_t d_port_id_in
Definition: tracking_singletarget_impl.h:53
std::vector< float > d_particle_range
Definition: tracking_singletarget_impl.h:60
float R_det
Definition: tracking_singletarget_impl.h:61
bool d_is_track
Definition: tracking_singletarget_impl.h:58
std::vector< std::vector< float > > Q
Definition: tracking_singletarget_impl.h:59
tracking_singletarget_impl(int num_particle, float std_range_meas, float std_velocity_meas, float std_accel_sys, float threshold_track, int threshold_lost, std::string filter)
~tracking_singletarget_impl()