Thank you for an excellent and well-documented library.
Running bfl/build/examples/compare_filters/test_compare_filters with the EK_particle_filter argument yields the following runtime error:
$ ./test_compare_filters EK_particle_filter
======================================Test of switching between different filters Mobile robot localisation example
======================================Measurment model H = [1,3]((0,-2,0)) Prior initialised Prior Mean = (-0.1,0.1,0.785398) Covariance = [3,3]((0.04,0,0),(0,0.04,0),(0,0,0.154213)) Mobile robot initialised Using the Extended Particle Kalman Filter, 1000 samples, dynamic resampling MAIN: Starting estimation Assertion failed: (MeasModel != NULL), function MeasurementModelSet, file bfl/src/pdf/filterproposaldensity.cpp, line 84. Abort trap
Am I supposed to provide a measurement model?
Also, the ASIR_filter option is commented out in the code. Does the ASIR_filter not work?