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