linear-kalman-filter.hpp

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#ifndef STATEOBSERVER_LINEARKALMANFILTERHPP
#define STATEOBSERVER_LINEARKALMANFILTERHPP
 
#include <state-observation/api.h>
#include <state-observation/observer/kalman-filter-base.hpp>
 
namespace stateObservation
{
 
class STATE_OBSERVATION_DLLAPI LinearKalmanFilter : public KalmanFilterBase
{
public:
  LinearKalmanFilter(Index n, Index m, Index p = 0) : KalmanFilterBase(n, m, p) {}
 
  LinearKalmanFilter() {}
 
  typedef Matrix Bmatrix;
 
  typedef Matrix Dmatrix;
 
  virtual void setB(const Bmatrix & B);
 
  virtual void clearB();
 
  virtual void setD(const Dmatrix & D);
 
  virtual void clearD();
 
  Bmatrix getBmatrixConstant(double c) const;
 
  Bmatrix getBmatrixRandom() const;
 
  Bmatrix getBmatrixZero() const;
 
  bool checkBmatrix(const Bmatrix &) const;
 
  Dmatrix getDmatrixConstant(double c) const;
 
  Dmatrix getDmatrixRandom() const;
 
  Dmatrix getDmatrixZero() const;
 
  bool checkDmatrix(const Dmatrix &) const;
 
  virtual void setStateSize(Index n);
 
  virtual void setMeasureSize(Index m);
 
  virtual void setInputSize(Index p);
 
protected:
  virtual StateVector prediction_(TimeIndex k);
 
  virtual MeasureVector simulateSensor_(const StateVector & x, TimeIndex k);
 
  Matrix d_;
 
  Matrix b_;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace stateObservation
 
#endif // STATEOBSERVER_LINEARKALMANFILTERHPP