ekf-flexibility-estimator-base.hpp

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#ifndef FLEXIBILITYESTIMATION_EKFFLEXIBILITYESTIMATORBASE_H
#define FLEXIBILITYESTIMATION_EKFFLEXIBILITYESTIMATORBASE_H
 
#include <boost/utility.hpp>
 
#include <state-observation/api.h>
#include <state-observation/observer/extended-kalman-filter.hpp>
 
#include <state-observation/flexibility-estimation/flexibility-estimator-base.hpp>
 
namespace stateObservation
{
namespace flexibilityEstimation
{
 
class STATE_OBSERVATION_DLLAPI EKFFlexibilityEstimatorBase : public FlexibilityEstimatorBase
{
public:
 
  EKFFlexibilityEstimatorBase(Index stateSize,
                              Index measurementSize,
                              Index inputSize,
                              const Vector & dx = Vector::Zero(0));

  virtual ~EKFFlexibilityEstimatorBase();

  virtual void setFlexibilityGuess(const Matrix &) = 0;

  virtual void setFlexibilityCovariance(const Matrix & P);

  virtual Matrix getFlexibilityCovariance() const;

  virtual void setProcessNoiseCovariance(const Matrix & Q);

  virtual void setMeasurementNoiseCovariance(const Matrix & R);

  virtual Matrix getProcessNoiseCovariance() const;

  virtual Matrix getMeasurementNoiseCovariance() const;

  virtual void setMeasurement(const Vector & y);
 
  virtual Vector getMeasurement();

  virtual void setInput(const Vector & u);

  virtual void setMeasurementInput(const Vector & u);
 
  virtual Vector getInput();
 
  virtual Vector getMeasurementInput();

  virtual const Vector & getFlexibilityVector();

  virtual Matrix4 getFlexibility() = 0;

  virtual const stateObservation::ExtendedKalmanFilter & getEKF() const;

  virtual stateObservation::ExtendedKalmanFilter & getEKF();

  virtual Index getStateSize() const = 0;

  virtual Index getMeasurementSize() const = 0;

  virtual Index getInputSize() const = 0;

  virtual Vector getSimulatedMeasurement();

  virtual void resetCovarianceMatrices() = 0;

  virtual Vector getInnovation();

  virtual Vector getPredictedMeasurement();

  virtual Vector getPrediction();

  virtual Vector getLastPredictedMeasurement();

  virtual Vector getLastPrediction();
 
protected:
  virtual void setJacobians(const Matrix & A, const Matrix & C);
 
  virtual void useFiniteDifferencesJacobians(Vector dx);
 
  stateObservation::ExtendedKalmanFilter ekf_;
 
  bool finiteDifferencesJacobians_;
 
  Vector dx_;
 
  Vector lastX_;
 
  TimeIndex k_;
 
private:
};
} // namespace flexibilityEstimation
} // namespace stateObservation
#endif // FLEXIBILITYESTIMATION_EKFFLEXIBILITYESTIMATORBASE_H