rookfighter / bayes-filter-cpp

A basic C++ library for Bayes Filters.

bayes-filter-cpp

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:

• Eigen3

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.