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Recursive Bayesian Estimation

Header only C++ Baysian filtering library. Currently includes standard Kalman Filter and Extended Kalman Filter implementations.

Submodules

This repository uses git submodules; to make sure these are cloned along with the main code, use:

git clone --recursive https://github.com/sgvandijk/rbest.git

If you already cloned this repository you can pull in the submodules with:

git submodule init && git submodule update

Dependencies

  • Eigen - Fast linear algebra
  • SDL 2 - Cross-platform input and graphics library
  • SDL2_gfx - SDL2 support functions

All these are available in the Ubuntu repositories

Building

mkdir build
cd build
cmake ..
make

Examples

This library comes with a few graphical examples to show the usage and performance of the filters. After building you can run these from build/examples:

cd examples
./flyer
./tank

Try controlling the agent using the arrow keys, press p to pause and q to quit.