00001 /* 00002 * This file is part of ACADO Toolkit. 00003 * 00004 * ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization. 00005 * Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau, 00006 * Milan Vukov, Rien Quirynen, KU Leuven. 00007 * Developed within the Optimization in Engineering Center (OPTEC) 00008 * under supervision of Moritz Diehl. All rights reserved. 00009 * 00010 * ACADO Toolkit is free software; you can redistribute it and/or 00011 * modify it under the terms of the GNU Lesser General Public 00012 * License as published by the Free Software Foundation; either 00013 * version 3 of the License, or (at your option) any later version. 00014 * 00015 * ACADO Toolkit is distributed in the hope that it will be useful, 00016 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00017 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 00018 * Lesser General Public License for more details. 00019 * 00020 * You should have received a copy of the GNU Lesser General Public 00021 * License along with ACADO Toolkit; if not, write to the Free Software 00022 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA 00023 * 00024 */ 00025 00026 00034 #include <acado/estimator/kalman_filter.hpp> 00035 00036 00037 00038 BEGIN_NAMESPACE_ACADO 00039 00040 00041 // 00042 // PUBLIC MEMBER FUNCTIONS: 00043 // 00044 00045 00046 KalmanFilter::KalmanFilter( double _samplingTime 00047 ) : Estimator( _samplingTime ) 00048 { 00049 setStatus( BS_NOT_INITIALIZED ); 00050 } 00051 00052 00053 KalmanFilter::KalmanFilter( const KalmanFilter& rhs ) : Estimator( rhs ) 00054 { 00055 } 00056 00057 00058 KalmanFilter::~KalmanFilter( ) 00059 { 00060 } 00061 00062 00063 KalmanFilter& KalmanFilter::operator=( const KalmanFilter& rhs ) 00064 { 00065 if ( this != &rhs ) 00066 { 00067 00068 Estimator::operator=( rhs ); 00069 00070 } 00071 00072 return *this; 00073 } 00074 00075 00076 Estimator* KalmanFilter::clone( ) const 00077 { 00078 return new KalmanFilter( *this ); 00079 } 00080 00081 00082 00083 returnValue KalmanFilter::init( double startTime, 00084 const DVector &x0_, 00085 const DVector &p_ 00086 ) 00087 { 00088 setStatus( BS_READY ); 00089 00090 return SUCCESSFUL_RETURN; 00091 } 00092 00093 00094 returnValue KalmanFilter::step( double currentTime, 00095 const DVector& _y 00096 ) 00097 { 00098 return SUCCESSFUL_RETURN; 00099 } 00100 00101 00102 00103 // 00104 // PROTECTED MEMBER FUNCTIONS: 00105 // 00106 00107 00108 00109 00110 CLOSE_NAMESPACE_ACADO 00111 00112 // end of file.