# kalman-cpp

**Repository Path**: githjk/kalman-cpp

## Basic Information

- **Project Name**: kalman-cpp
- **Description**: Basic Kalman filter implementation in C++ using Eigen
- **Primary Language**: C++
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2019-07-03
- **Last Updated**: 2021-11-03

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

Kalman Filter
=============
This is a basic Kalman filter implementation in C++ using the
[Eigen](http://eigen.tuxfamily.org/) library. It implements the algorithm
directly as found in [An Introduction to the Kalman Filter]
(http://www.cs.unc.edu/~welch/media/pdf/kalman_intro.pdf).

This filter has been successfully used for the
[Iron Dome](https://github.com/hmartiro/iron-dome), a robotic system
which detects and intercepts dynamically thrown projectiles in fractions of a second.

There is a test program that estimates the motion of a projectile based on
noisy observations. To run it, use CMake:

    cd kalman-cpp
    mkdir build
    cd build
    cmake ..
    make
    ./kalman-test

Note: You may have to specify the path to your Eigen library in
`CMakeLists.txt`.