Impala Documentation

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

Definition at line 214 of file FunctorKalman.h.

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

00215     {
00216         //eq.13
00217         mPastResiduals.push_back(mResidualThisFrame);
00218         mResidualThisFrame = 0;
00219         mResidualAvrg = 0;
00220         std::deque<double>::iterator i;
00221         for(i=mPastResiduals.begin() ; i!=mPastResiduals.end() ; i++)
00222         {
00223             mResidualAvrg += *i;
00224         }
00225         mResidualAvrg /= mPastResiduals.size();
00226         mOutlierTreshold = mResidualAvrg * mAlpha;
00227         while(mPastResiduals.size() > mK)
00228             mPastResiduals.pop_front();
00229     }