MCDA_INIT MCDA Data structure initialization
Syntax:
[S,W] = mcda_init(np,M0,P0,[W])
In:
np - Number of particles
M0 - Cell array of target prior means. The size is TxN if
separate is used for each particle, otherwise Tx1.
P0 - Cell array of target prior covariances. The size is TxN if
separate is used for each particle, otherwise Tx1.
W - Prior particle weights. (optional, default: uniform)
Out:
S - 1xN cell array containing $N$ particle structures.
Description:
Initialize data structure for Rao-Blackwellized Monte Carlo
Data Association Algorithm with Number of Targets estimation.
Each element of array S represents one particle, which is a
data structure containing the following fields:
M : Cell array 1xT of T target means
P : Cell array 1xT of T target covariances
W : Importance weight of the particle
See also:
KF_MCDA_PREDICT, KF_MCDA_UPDATE, EKF_MCDA_PREDICT, EKF_MCDA_UPDATE,
UKF_MCDA_PREDICT, UKF_MCDA_UPDATE