observer-base.hpp

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#ifndef OBSERVERBASEHPP
#define OBSERVERBASEHPP
 
#include <boost/assert.hpp>
#include <boost/static_assert.hpp>
 
#include <state-observation/api.h>
#include <state-observation/tools/definitions.hpp>
 
namespace stateObservation
{
class STATE_OBSERVATION_DLLAPI ObserverBase
{
public:
  typedef Vector StateVector;
 
  typedef Vector MeasureVector;
 
  typedef Vector InputVector;
 
  ObserverBase(Index n, Index m, Index p = 0);
 
  ObserverBase();
 
  virtual ~ObserverBase(){};
 
  virtual void setStateSize(Index n);
 
  virtual Index getStateSize() const;
 
  virtual void setMeasureSize(Index m);
 
  virtual Index getMeasureSize() const;
 
  virtual void setInputSize(Index p);
 
  virtual Index getInputSize() const;
 
  virtual void setState(const StateVector & x_k, TimeIndex k) = 0;
 
  virtual void clearStates() = 0;
 
  virtual void setMeasurement(const MeasureVector & y_k, TimeIndex k) = 0;
 
  virtual void clearMeasurements() = 0;
 
  virtual void setInput(const InputVector & x_k, TimeIndex k) = 0;
 
  virtual void clearInputs() = 0;
 
  virtual void clearInputsAndMeasurements();
 
  virtual StateVector getEstimatedState(TimeIndex k) = 0;
 
  virtual void reset();
 
  virtual StateVector stateVectorConstant(double c) const;
 
  virtual StateVector stateVectorRandom() const;
 
  virtual StateVector stateVectorZero() const;
 
  virtual bool checkStateVector(const StateVector & v) const;
 
  virtual MeasureVector measureVectorConstant(double c) const;
 
  virtual MeasureVector measureVectorRandom() const;
 
  virtual MeasureVector measureVectorZero() const;
 
  virtual bool checkMeasureVector(const MeasureVector &) const;
 
  virtual InputVector inputVectorConstant(double c) const;
 
  virtual InputVector inputVectorRandom() const;
 
  virtual InputVector inputVectorZero() const;
 
  virtual bool checkInputVector(const InputVector &) const;
 
protected:
  Index n_;
 
  Index m_;
 
  Index p_;
};
 
} // namespace stateObservation
 
#endif // OBSERVERBASEHPP