MAPS-PF is a header-only library that provides an implementation of a generic particle filter as presented in
It can be adapted to a specific domain through templating and specifying classes to use for command and measurement models. The documentation of the classes in ParticleFilter.hpp, particularly the main class, ParticleFilter, is a good place to start for further details.
MAPS-PF is licensed for open-source use under GPL-v3.
The build configuration files are for CMake, which allows cross-platform support. The code has been successfully built on the following OSs, either using GCC (4.2.1+) or the indicated compiler, though it may work on other systems as well (or earlier compiler versions):
The only external libraries MAPS-PF depends upon are the Boost header-only libraries.
The intended usage is to create subclasses of ParticleFilter, CommandModel, and MeasurementModel appropriate to a given application, templated with the desired data types for each. A simple example of how to generate such classes for tracking in a 1D space (using double for all 3 types) is included as ParticleFilter1D.hpp, with associated demo program TestParticleFilter.cpp.
Since this is a header-only library, you do not need to build anything to use it. The provided build files are for building the example code and this documentation.
MAPS-PF was written by Zachary Pezzementi as part of the MAPS Project. As such, its development was sponsored by
1.7.1