Impala Documentation

void Impala::Core::Array::Trait::FuncKalman::ComputeResiduals ( ) [inline]

Definition at line 196 of file FunctorKalman.h.

References mAlpha, mK, mOutlierTreshold, mPastResiduals, mResidualAvrg, and mResidualThisFrame.

00197     {
00198         //eq.13
00199         mPastResiduals.push_back(mResidualThisFrame);
00200         mResidualThisFrame = 0;
00201         mResidualAvrg = 0;
00202         std::deque<double>::iterator i;
00203         for(i=mPastResiduals.begin() ; i!=mPastResiduals.end() ; i++)
00204         {
00205             mResidualAvrg += *i;
00206         }
00207         mResidualAvrg /= mPastResiduals.size();
00208         mOutlierTreshold = mResidualAvrg * mAlpha;
00209         while(mPastResiduals.size() > mK)
00210             mPastResiduals.pop_front();
00211     }