saf_tracker.h

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/*
 * This file is part of the saf_tracker module.
 * Copyright (c) 2020 - Leo McCormack
 *
 * The saf_tracker module is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or (at your
 * option) any later version.
 *
 * The saf_tracker module is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for
 * more details.
 *
 * See <http://www.gnu.org/licenses/> for a copy of the GNU General Public
 * License.
 */

 
#ifndef __SAF_TRACKER_H_INCLUDED__
#define __SAF_TRACKER_H_INCLUDED__
 
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
 
#ifdef  SAF_ENABLE_TRACKER_MODULE
 
/* ========================================================================== */
/*                               Public Structs                               */
/* ========================================================================== */

typedef struct _tracker3d_config{
    int Np;                  
    int ARE_UNIT_VECTORS;    
    int maxNactiveTargets;   
    float noiseLikelihood;   
    float measNoiseSD;       
    float noiseSpecDen;      
    int ALLOW_MULTI_DEATH;   
    float init_birth;        
    float alpha_death;       
    float beta_death;        
    float dt;                
    float W_avg_coeff;       
    int FORCE_KILL_TARGETS;  
    float forceKillDistance; 
    float M0[6];             
    float P0[6][6];          
    float cd;                
    
}tracker3d_config;
 
 
/* ========================================================================== */
/*                               Main Functions                               */
/* ========================================================================== */

void tracker3d_create(void** const phT3d,
                      tracker3d_config tpars);

void tracker3d_destroy(void** const phT3d);

void tracker3d_reset(void* const hT3d);
    
void tracker3d_step(void* const hT3d,
                    float* newObs_xyz,
                    int nObs,
                    float** target_pos_xyz,
                    float** target_var_xyz,
                    int** target_IDs,
                    int* nTargets);
 
#endif /* SAF_ENABLE_TRACKER_MODULE */
 
 
#ifdef __cplusplus
} /* extern "C" */
#endif /* __cplusplus */
 
#endif /* __SAF_TRACKER_H_INCLUDED__ */
 /* doxygen addtogroup Tracker */