Preparing the .cpp file

In the folder

  BFL/examples/linear_kalman/

you find the source file called

  test_linear_kalman.cpp

This file contains the implementation we discuss in this first example. The beginning of the file contains some C++ overhead, such as the inclusion of the BFL header files we'll use

  #include <filter/extendendkalmanfilter.h>
  #include <model/linearanalyticsystemmodel_gaussianuncertainty.h>
  #include <model/linearanalyticmeasurementmodel_gaussianuncertainty.h>
  #include <pdf/linearanalyticsystemmodel_gaussianuncertainty.h>
  #include <pdf/linearanalyticmeasurementmodel_gaussianuncertainty.h>,

the mobile robot simulator

#include "../mobile_robot.h",

the file from which some properties are read (e.g. the initial state estimate)

#include "../mobile_robot_wall_cts.h",

and the namespaces that we'll use

  using namespace MatrixWrapper;
  using namespace BFL;
  using namespace std;