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