zero-delay-observer.hpp

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#ifndef ZERODELAYOBSERVER_H
#define ZERODELAYOBSERVER_H
 
#include <deque>
 
#include <state-observation/api.h>
#include <state-observation/observer/observer-base.hpp>
 
namespace stateObservation
{
class STATE_OBSERVATION_DLLAPI ZeroDelayObserver : public ObserverBase
{
public:
  ZeroDelayObserver(Index n, Index m, Index p = 0) : ObserverBase(n, m, p) {}

  ZeroDelayObserver() {}

  virtual ~ZeroDelayObserver(){};

  virtual void setState(const ObserverBase::StateVector & x_k, TimeIndex k);

  virtual void setCurrentState(const ObserverBase::StateVector & x_k);

  virtual void clearStates();

  bool stateIsSet() const;

  virtual void setMeasurement(const ObserverBase::MeasureVector & y_k, TimeIndex k);

  virtual void pushMeasurement(const ObserverBase::MeasureVector & y_k);

  virtual void clearMeasurements();

  virtual void setInput(const ObserverBase::InputVector & u_k, TimeIndex k);

  virtual void pushInput(const ObserverBase::InputVector & u_k);

  virtual void clearInputs();

  virtual void clearInputsAndMeasurements();

  virtual TimeIndex estimateState();

  virtual ObserverBase::StateVector getEstimatedState(TimeIndex k);

  virtual ObserverBase::StateVector getCurrentEstimatedState() const;

  virtual TimeIndex getCurrentTime() const;

  Vector getInput(TimeIndex k) const;

  virtual TimeSize getInputsNumber() const;

  virtual TimeIndex getInputTime() const;

  Vector getMeasurement(TimeIndex k) const;

  virtual TimeIndex getMeasurementTime() const;

  virtual TimeSize getMeasurementsNumber() const;

  virtual void setStateSize(Index n);

  virtual void setMeasureSize(Index m);

  virtual void setInputSize(Index p);
 
protected:
  virtual StateVector oneStepEstimation_() = 0;


  IndexedVector x_;

  IndexedVectorArray y_;

  IndexedVectorArray u_;
 
public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
 
} // namespace stateObservation
 
#endif // ZERODELAYOBSERVER