condens.h

#include <opencv2/opencv.hpp>

class ConDensation {
	public:

		ConDensation( unsigned int dynam_params, unsigned int num_particles );

		virtual ~ConDensation();

		void init_sample_set(const float initial[], const float std_dev[] );

		void time_update();

	protected:

		unsigned int m_num_states;
		cv::Mat_<float> m_transition_matrix;   // Matrix of the linear system
		cv::Mat_<float>  m_state;              // Vector of current State
		unsigned int m_num_particles;          //  Number of the Samples
		std::vector<cv::Mat_<float> > m_particles;      // Current particle vectors
		std::vector<float> m_confidence;      // Confidence for each particle vector
		std::vector<cv::Mat_<float> > m_new_particles;  // New samples
		std::vector<float> m_cumulative;      // Cumulative confidence vector
		cv::Mat_<float> m_temp;               // Temporary vector
		cv::RNG m_rng;                        // Random generator
		const float* m_std_dev;

};