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Multitarget Bearing Only Tracking by Particle Filter

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from Multitarget Bearing Only Tracking by Particle Filter by Sebastien PARIS
A demo illustrating Multitarget BO tracking by particle filter

delete_sources(Z , D , ind_D , M); 
function Z_delete = delete_sources(Z , D , ind_D , M);

% Delete sources from the observation given
%
% 1) D the time interval to exclude the source
% 2) the number of the sources%
%
% Usage
% ----
%
% Z_delete = delete_sources(Z , D , ind_D , M);
%
% Inputs
% -----
%
% Z                                 The observation
% D         (2 x r x l) , r         Number of exclusion zones, l number of source to delete   l <= M;
% ind_M     (1 x l)                
% M                                 Total number of the sources
%
% Example
% ------
%
%
% D     = cat(3 ,  [200 , 500 ; 350 , 700 ] ,  [200 , 500 ; 350 , 700 ]);
% ind_D = [1 , 3];
% M     = 3;
% Z_delete = delete_sources(Z , D , ind_D , M);
%
%
%
%***************************************************************************%%
%  Auteur Sbastien PARIS (sebastien.paris@lsis.org), Septembre 2002                   %
%***************************************************************************%%


[mtM , nx2]           =       size(Z);

[h , r , l]           =       size(D);

Z_delete              =       Z;

if(h ~= 2)
    
    error('D must be (2 x r x l) ');
    
end

diff_D               = diff(D , [] , 1);

for i = 1 : l
    
    for j = 1:r
        
        if( (diff_D(i) ~= 0) && (D(1 , j , i)~=0) )
            
%            ind = find( (Z_delete(: , 1) >= D(1 , j , i) ) & (  Z_delete(: , 1) <= D(2 , j , i)) & (Z_delete(: , nx2) == ind_D(i)));
       
            ind = ( (Z_delete(: , 1) >= D(1 , j , i) ) & (  Z_delete(: , 1) <= D(2 , j , i)) & (Z_delete(: , nx2) == ind_D(i)));
            
            Z_delete( ind , :) = [];
            
        end
        
    end
    
end

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