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 00033 #ifndef ACADO_TOOLKIT_KALMAN_FILTER_HPP 00034 #define ACADO_TOOLKIT_KALMAN_FILTER_HPP 00035 00036 00037 #include <acado/utils/acado_utils.hpp> 00038 #include <acado/estimator/estimator.hpp> 00039 00040 00041 BEGIN_NAMESPACE_ACADO 00042 00043 00053 class KalmanFilter : public Estimator 00054 { 00055 // 00056 // PUBLIC MEMBER FUNCTIONS: 00057 // 00058 public: 00060 KalmanFilter( double _samplingTime = DEFAULT_SAMPLING_TIME 00061 ); 00062 00064 KalmanFilter( const KalmanFilter& rhs ); 00065 00067 virtual ~KalmanFilter( ); 00068 00070 KalmanFilter& operator=( const KalmanFilter& rhs ); 00071 00072 virtual Estimator* clone( ) const; 00073 00074 00076 virtual returnValue init( double startTime = 0.0, 00077 const DVector &x0_ = emptyConstVector, 00078 const DVector &p_ = emptyConstVector 00079 ); 00080 00082 virtual returnValue step( double currentTime, 00083 const DVector& _y 00084 ); 00085 00086 00087 // 00088 // PROTECTED MEMBER FUNCTIONS: 00089 // 00090 protected: 00091 00092 00093 00094 // 00095 // DATA MEMBERS: 00096 // 00097 protected: 00098 }; 00099 00100 00101 CLOSE_NAMESPACE_ACADO 00102 00103 00104 00105 //#include <acado/estimator/kalman_filter.ipp> 00106 00107 00108 #endif // ACADO_TOOLKIT_KALMAN_FILTER_HPP 00109 00110 /* 00111 * end of file 00112 */