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bayes-filter-cpp

Cpp11 License Travis Status Appveyer Status

bayes-filter-cpp is a C++ library implementing recursive bayes filters for state estimation. It provides the following filters:

  • Particle Filter
  • Unscented Kalman Filter
  • Extended Kalman Filter

Install

The library has the following dependencies:

Make sure these are installed on your system and/or can be found by your build system. For ease of use the header-only dependencies are included as submodules.

On Debian based systems you can install Eigen3 via apt:

apt-get install libeigen3-dev

Then you can simply copy the source files into your project or install the library using the CMake build system.

cd path/to/repo
git submodule update --init
mkdir build
cd build
cmake ..
make install

Usage

There are three steps to use this library:

  • implement your motion model
  • implement your sensor model
  • pick the filter of your choice

An example for a 2d constant velocity motion model can be found in examples/constant_velocity.h.

An example for a 2d range bearing sensor model can be found in examples/range_bearing.h.

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