algebraic-sensor.hpp

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#ifndef SIMULATIONALGEBRAICSENSORHPP
#define SIMULATIONALGEBRAICSENSORHPP
 
#include <boost/assert.hpp>
#include <Eigen/Core>
 
#include <state-observation/api.h>
#include <state-observation/sensors-simulation/sensor-base.hpp>
 
namespace stateObservation
{
class STATE_OBSERVATION_DLLAPI AlgebraicSensor : public SensorBase
{
public:
  AlgebraicSensor();
 
  virtual ~AlgebraicSensor() {}
 
  virtual Vector getMeasurements(bool noisy = true);
 
  virtual void setState(const Vector & state, TimeIndex k);
 
  virtual TimeIndex getTime() const;
 
  virtual Index getStateSize() const;
 
  virtual Index getMeasurementSize() const;
 
  virtual Index concatenateWithInput(Index n);
 
protected:
  virtual Vector computeNoiselessMeasurement_() = 0;
 
  virtual Index getStateSize_() const = 0;
 
  virtual Index getMeasurementSize_() const = 0;
 
  Vector computeNoisyMeasurement_();
 
  virtual void checkState_(const Vector &);
 
  TimeIndex time_;
 
  Index concat_;
 
  Vector state_;
 
  Vector directInputToOutput_;
 
  bool storedNoisyMeasurement_;
 
  Vector noisyMeasurement_;
 
  bool storedNoiselessMeasurement_;
 
  Vector noiselessMeasurement_;
};
 
} // namespace stateObservation
 
#endif // SIMULATIONALGEBRAICSENSORHPP